System including a surgical cutting and fastening instrument

- Ethicon LLC

A surgical cutting and fastening instrument comprises an end effector that has a shaft coupled thereto that is coupled to a robotic system. A tool mounting portion includes an electric, DC motor connected to a drive train in the shaft for powering the drive train. A power pack that comprises at least one charge-accumulating device connected to the DC motor for powering the DC motor is provided.

Skip to: Description  ·  Claims  ·  References Cited  · Patent History  ·  Patent History
Description
CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 13/118,190, entitled ROBOTICALLY-CONTROLLED MOTORIZED SURGICAL CUTTING AND FASTENING INSTRUMENT, filed May 27, 2011, which issued on Nov. 10, 2015 as U.S. Pat. No. 9,179,912, which is a continuation-in-part application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 12/031,567, filed Feb. 14, 2008, entitled MOTORIZED SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING HANDLE BASED POWER SOURCE, which issued on Feb. 25, 2014 as U.S. Pat. No. 8,657,174, the entire disclosures of which are hereby incorporated by reference herein and which are related to and incorporate by reference the following applications:

    • MOTORIZED SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING A MAGNETIC DRIVE TRAIN TORQUE LIMITING DEVICE, U.S. patent application Ser. No. 12/031,542, filed Feb. 14, 2008, now U.S. Pat. No. 8,459,525;
    • MOTORIZED SURGICAL CUTTING AND FASTENING INSTRUMENT, U.S. patent application Ser. No. 12/031,556, filed Feb. 14, 2008, now U.S. Pat. No. 8,636,736;
    • SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, U.S. patent application Ser. No. 12/031,573, filed Feb. 14, 2008; and
    • MOTORIZED CUTTING AND FASTENING INSTRUMENT HAVING CONTROL CIRCUIT FOR OPTIMIZING BATTERY USAGE, U.S. patent application Ser. No. 12/031,580, filed Feb. 14, 2008, now U.S. Pat. No. 8,622,274.

BACKGROUND

Surgical staplers have been used in the prior art to simultaneously make a longitudinal incision in tissue and apply lines of staples on opposing sides of the incision. Such instruments commonly include a pair of cooperating jaw members that, if the instrument is intended for endoscopic or laparoscopic applications, are capable of passing through a cannula passageway. One of the jaw members receives a staple cartridge having at least two laterally spaced rows of staples. The other jaw member defines an anvil having staple-forming pockets aligned with the rows of staples in the cartridge. Such instruments typically include a plurality of reciprocating wedges that, when driven distally, pass through openings in the staple cartridge and engage drivers supporting the staples to effect the firing of the staples toward the anvil.

An example of a surgical stapler suitable for endoscopic applications is described in published U.S. Patent Application Publication No. 2004/0232196, entitled, SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, now U.S. Pat. No. 7,000,818, the disclosure of which is herein incorporated by reference. In use, a clinician is able to close the jaw members of the stapler upon tissue to position the tissue prior to firing. Once the clinician has determined that the jaw members are properly gripping tissue, the clinician can fire the surgical stapler, thereby severing and stapling the tissue. The simultaneous severing and stapling steps avoid complications that may arise when performing such actions sequentially with different surgical tools that respectively only sever or staple.

In addition, it is also known in the prior art to include electrodes in the end effector that can be used to emit/receive RF energy to form a hemostatic line along the cut line. U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE (hereinafter the “'312 Patent”), which is incorporated herein by reference, discloses an electrosurgical instrument with an end effector that compresses tissue between one pole (or electrode) of a bipolar energy source on one interfacing surface, and a second pole (or electrode) on a second interfacing surface. The RF energy applied through the compressed tissue in the end effector, which cauterizes the tissue. The end effector described in the '312 Patent also includes staples for stapling the tissue compressed in the end effector.

Motor-powered surgical cutting and fastening instruments, where the motor powers the cutting instrument, are also known in the prior art, such as described in published U.S. Patent Application Publication No. 2007/0175962, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, now U.S. Pat. No. 7,422,139, which is incorporated herein by reference.

SUMMARY

In one general aspect, embodiments of the present invention are directed to surgical cutting and fastening instruments. The instruments may be endoscopic instruments, such as linear endocutters or circular cutters, or laparoscopic instruments. The instruments may be comprised of staples and/or RF electrodes for fastening tissue clamped in the end effector.

Several embodiments disclosed herein are pertinent to cordless motor-powered instruments. The instruments may be powered by a power pack comprising a DC power source, such as one or more series-connected battery cells. A cell selection switch may control how many of the battery cells are being used to power the motor at a given time to control the power available to the motor. This allows the operator of the instrument to have greater control over both the speed and the power of the motor. In another embodiment, the instrument may comprise a power regulator, including, for example, a DC-to-DC converter, that regulates the voltage supplied to the motor. Further, the voltage set point for the power regulator could be set so that the voltage delivered from the power source is less than the voltage at which the power source delivers maximum power. That way, the power source (e.g., a number of series-connected battery cells) could operate on the “left” or increasing side of the power curve, so that increases in power would be available.

In addition, according to various embodiments, the power source may comprise secondary accumulator devices, such as rechargeable batteries or supercapacitors. Such secondary accumulator devices may be charged repeatably by replaceable batteries. A charge management circuit may control the charging of the secondary accumulator devices and provide various status signals, such as an alert, when the charging of the secondary accumulator devices is complete.

In other embodiment, a power pack comprising the secondary accumulator devices may be removable from the instrument and connectable to a remote charger base. The charger base may charge the secondary accumulator devices, such as from the AC electrical mains or a battery. The charger base may also comprise a processor and memory unit. Data stored in a memory of the removable power pack may be downloaded to the charger base, from which it may be uploaded for later use and analysis, such as by the user (e.g., physician), the manufacturer or distributor of the instrument, etc. The data may comprise operating parameters, such as charge cycle information, as well as ID values for various replaceable components of the instrument, such as the staple cartridge.

In addition, the instrument may comprise a torque-limiting device to limit the torque supplied by the motor, to limit thereby actuation forces that may damage components of the instrument. According to various embodiments, the torque-limiting devices may be an electromagnetic or permanent magnet, or mechanical clutch devices connected (either directly or indirectly) to the output pole of the motor.

In another general aspect, the present invention is directed to RF instruments (i.e., surgical cutting and fastening instruments with electrodes at the end effector for applying RF energy to the tissue held by the end effector) with new types of electrode configurations. In general, the new electrode configurations include combinations of smaller active electrodes and larger return electrodes. The smaller active electrodes are used to concentrate the therapeutic energy at the tissue, while the larger return electrodes preferentially are used to complete the circuit with minimal impact on that tissue interface. The return electrodes typically have greater mass and thereby are able to stay cooler during electrosurgical application.

In addition, the end effector, according to various embodiments, may comprise a number of co-linear, segmented active electrodes. The segmented electrodes could be energized synchronously or, more preferably, in sequence. Activating the segmented electrodes in sequence provides the advantages of (1) decreased instantaneous power requirements due to a smaller targeted area of tissue coagulation and (2) allowing other segments to fire if one is shorted out.

In addition, a number of mechanisms for activating the RF electrodes and for articulating the end effector are disclosed herein.

In accordance with other general aspects of various embodiments of the present invention, there is provided a surgical cutting and fastening instrument that includes an end effector and a shaft that is operably coupled to a robotic system and the end effector. The shaft comprises at least a portion of a drive train for powering the end effector. An electric, DC motor is connected to the drive train for powering the drive train. A power pack that comprises at least one charge-accumulating device is connected to the DC motor for powering the DC motor.

In accordance with yet other general aspects of various embodiments of the present invention, there is provided a surgical instrument that includes an end effector and a shaft that is connected to a robotic system and the end effector. The shaft comprises a drive train for powering the end effector. An electric, DC motor is connected to the drive train for powering the drive train. A detachable power pack that comprises at least one chargeable DC power source is connected to the DC motor for powering the DC motor. A charger base that is remote from the instrument is provided for connecting to the removable power pack when detached. In various embodiments, the charger base comprises a power source for charging the at least one chargeable DC power source of the power pack.

FIGURES

Various embodiments of the present invention are described herein by way of example in conjunction with the following figures, wherein:

FIGS. 1 and 2 are perspective views of a surgical cutting and fastening instrument according to various embodiments of the present invention;

FIGS. 3-5 are exploded views of an end effector and shaft of the instrument according to various embodiments of the present invention;

FIG. 6 is a side view of the end effector according to various embodiments of the present invention;

FIG. 7 is an exploded view of the handle of the instrument according to various embodiments of the present invention;

FIGS. 8 and 9 are partial perspective views of the handle according to various embodiments of the present invention;

FIG. 10 is a side view of the handle according to various embodiments of the present invention;

FIG. 11 is a schematic diagram of a circuit used in the instrument according to various embodiments of the present invention;

FIGS. 12-14 and 17 are schematic diagrams of circuits used to power the motor of the instrument according to various embodiments of the present invention;

FIG. 15 is a block diagram illustrating a charge management circuit according to various embodiments of the present invention;

FIG. 16 is a block diagram illustrating a charger base according to various embodiments of the present invention;

FIG. 18 illustrates a typical power curve of a battery;

FIGS. 19-22 illustrate embodiments of an electromagnetic, clutch-type torque-limiting device according to various embodiments of the present invention;

FIGS. 23-25, 27-28, and 59 are views of the lower surface of the anvil of the instrument according to various embodiments of the present invention;

FIGS. 26, 53, 54, and 68 are cross-sectional front views of the end effector according to various embodiments of the present invention;

FIGS. 29-32 show an embodiment of the end effector having RF electrodes according to various embodiments of the present invention;

FIGS. 33-36 show another embodiment of the end effector having RF electrodes according to various embodiments of the present invention;

FIGS. 37-40 show another embodiment of the end effector having RF electrodes according to various embodiments of the present invention;

FIGS. 41-44 show another embodiment of the end effector having RF electrodes according to various embodiments of the present invention;

FIGS. 45-48 show another embodiment of the end effector having RF electrodes according to various embodiments of the present invention;

FIGS. 49-52 show another embodiment of the end effector having RF electrodes according to various embodiments of the present invention;

FIGS. 55 and 56 show side views of the end effector according to various embodiments of the present invention;

FIG. 57 is a diagram of the handle of the instrument according to another embodiment of the present invention;

FIG. 58 is a cut-away view of the handle of the embodiment of FIG. 57 according to various embodiments of the present invention;

FIGS. 60-66 illustrate a multi-layer circuit board according to various embodiments of the present invention;

FIG. 67 is a diagram illustrating an end effector according to various embodiments of the present invention;

FIGS. 69 and 70 are diagram of an instrument comprising a flexible neck assembly according to various embodiments of the present invention.

FIG. 71 is a perspective view of one robotic controller embodiment;

FIG. 72 is a perspective view of one robotic surgical arm cart/manipulator of a robotic system operably supporting a plurality of surgical tool embodiments of the present invention;

FIG. 73 is a side view of the robotic surgical arm cart/manipulator depicted in FIG. 72;

FIG. 74 is a perspective view of an exemplary cart structure with positioning linkages for operably supporting robotic manipulators that may be used with various surgical tool embodiments of the present invention;

FIG. 75 is a perspective view of a surgical tool embodiment of the present invention;

FIG. 76 is an exploded assembly view of an adapter and tool holder arrangement for attaching various surgical tool embodiments to a robotic system;

FIG. 77 is a side view of the adapter shown in FIG. 76;

FIG. 78 is a bottom view of the adapter shown in FIG. 76;

FIG. 79 is a top view of the adapter of FIGS. 76 and 77;

FIG. 80 is a partial bottom perspective view of the surgical tool embodiment of FIG. 75;

FIG. 81 is a partial exploded view of a portion of an articulatable surgical end effector embodiment of the present invention;

FIG. 82 is a perspective view of the surgical tool embodiment of FIG. 80 with the tool mounting housing removed;

FIG. 83 is a rear perspective view of the surgical tool embodiment of FIG. 80 with the tool mounting housing removed;

FIG. 84 is a front perspective view of the surgical tool embodiment of FIG. 80 with the tool mounting housing removed;

FIG. 85 is a partial exploded perspective view of the surgical tool embodiment of FIG. 84;

FIG. 86 is a partial cross-sectional side view of the surgical tool embodiment of FIG. 80;

FIG. 87 is an enlarged cross-sectional view of a portion of the surgical tool depicted in FIG. 86;

FIG. 88 is an exploded perspective view of a portion of the tool mounting portion of the surgical tool embodiment depicted in FIG. 80;

FIG. 89 is an enlarged exploded perspective view of a portion of the tool mounting portion of FIG. 88;

FIG. 90 is a partial cross-sectional view of a portion of the elongated shaft assembly of the surgical tool of FIG. 80;

FIG. 91 is a side view of a half portion of a closure nut embodiment of a surgical tool embodiment of the present invention;

FIG. 92 is a perspective view of another surgical tool embodiment of the present invention;

FIG. 93 is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 92 with the anvil in the open position and the closure clutch assembly in a neutral position;

FIG. 94 is another cross-sectional side view of the surgical end effector and elongated shaft assembly shown in FIG. 93 with the clutch assembly engaged in a closure position;

FIG. 95 is another cross-sectional side view of the surgical end effector and elongated shaft assembly shown in FIG. 93 with the clutch assembly engaged in a firing position;

FIG. 96 is a top view of a portion of a tool mounting portion embodiment of the present invention;

FIG. 97 is a perspective view of another surgical tool embodiment of the present invention;

FIG. 98 is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 97 with the anvil in the open position;

FIG. 99 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 97 with the anvil in the closed position;

FIG. 100 is a perspective view of a closure drive nut and portion of a knife bar embodiment of the present invention;

FIG. 101 is a top view of another tool mounting portion embodiment of the present invention;

FIG. 102 is a perspective view of another surgical tool embodiment of the present invention;

FIG. 103 is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 102 with the anvil in the open position;

FIG. 104 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 103 with the anvil in the closed position;

FIG. 105 is a cross-sectional view of a mounting collar embodiment of a surgical tool embodiment of the present invention showing the knife bar and distal end portion of the closure drive shaft;

FIG. 106 is a cross-sectional view of the mounting collar embodiment of FIG. 105;

FIG. 107 is a top view of another tool mounting portion embodiment of another surgical tool embodiment of the present invention;

FIG. 107A is an exploded perspective view of a portion of a gear arrangement of another surgical tool embodiment of the present invention;

FIG. 107B is a cross-sectional perspective view of the gear arrangement shown in FIG. 107A;

FIG. 108 is a cross-sectional side view of a portion of a surgical end effector and elongated shaft assembly of another surgical tool embodiment of the present invention employing a pressure sensor arrangement with the anvil in the open position;

FIG. 109 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 108 with the anvil in the closed position;

FIG. 110 is a side view of a portion of another surgical tool embodiment of the present invention in relation to a tool holder portion of a robotic system with some of the components thereof shown in cross-section;

FIG. 111 is a side view of a portion of another surgical tool embodiment of the present invention in relation to a tool holder portion of a robotic system with some of the components thereof shown in cross-section;

FIG. 112 is a side view of a portion of another surgical tool embodiment of the present invention with some of the components thereof shown in cross-section;

FIG. 113 is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section;

FIG. 114 is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section;

FIG. 115 is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section;

FIG. 116 is an enlarged cross-sectional view of a portion of the end effector of FIG. 115;

FIG. 117 is another cross-sectional view of a portion of the end effector of FIGS. 115 and 116:

FIG. 118 is a cross-sectional side view of a portion of a surgical end effector and elongated shaft assembly of another surgical tool embodiment of the present invention with the anvil in the open position;

FIG. 119 is an enlarged cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 118;

FIG. 120 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of FIGS. 118 and 119 with the anvil thereof in the closed position;

FIG. 121 is an enlarged cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIGS. 118-120;

FIG. 122 is a top view of a tool mounting portion embodiment of a surgical tool embodiment of the present invention;

FIG. 123 is a perspective assembly view of another surgical tool embodiment of the present invention;

FIG. 124 is a front perspective view of a disposable loading unit arrangement that may be employed with various surgical tool embodiments of the present invention;

FIG. 125 is a rear perspective view of the disposable loading unit of FIG. 124;

FIG. 126 is a bottom perspective view of the disposable loading unit of FIGS. 124 and 125;

FIG. 127 is a bottom perspective view of another disposable loading unit embodiment that may be employed with various surgical tool embodiments of the present invention;

FIG. 128 is an exploded perspective view of a mounting portion of a disposable loading unit depicted in FIGS. 124-126;

FIG. 129 is a perspective view of a portion of a disposable loading unit and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention with the disposable loading unit in a first position;

FIG. 130 is another perspective view of a portion of the disposable loading unit and elongated shaft assembly of FIG. 129 with the disposable loading unit in a second position;

FIG. 131 is a cross-sectional view of a portion of the disposable loading unit and elongated shaft assembly embodiment depicted in FIGS. 129 and 130;

FIG. 132 is another cross-sectional view of the disposable loading unit and elongated shaft assembly embodiment depicted in FIGS. 129-131;

FIG. 133 is a partial exploded perspective view of a portion of another disposable loading unit embodiment and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention;

FIG. 134 is a partial exploded perspective view of a portion of another disposable loading unit embodiment and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention;

FIG. 135 is another partial exploded perspective view of the disposable loading unit embodiment and an elongated shaft assembly embodiment of FIG. 134;

FIG. 136 is a top view of another tool mounting portion embodiment of a surgical tool embodiment of the present invention;

FIG. 137 is a side view of another surgical tool embodiment of the present invention with some of the components thereof shown in cross-section and in relation to a robotic tool holder of a robotic system;

FIG. 138 is an exploded assembly view of a surgical end effector embodiment that may be used in connection with various surgical tool embodiments of the present invention;

FIG. 139 is a side view of a portion of a cable-driven system for driving a cutting instrument employed in various surgical end effector embodiments of the present invention;

FIG. 140 is a top view of the cable-driven system and cutting instrument of FIG. 139;

FIG. 141 is a top view of a cable drive transmission embodiment of the present invention in a closure position;

FIG. 142 is another top view of the cable drive transmission embodiment of FIG. 141 in a neutral position;

FIG. 143 is another top view of the cable drive transmission embodiment of FIGS. 141 and 142 in a firing position;

FIG. 144 is a perspective view of the cable drive transmission embodiment in the position depicted in FIG. 141;

FIG. 145 is a perspective view of the cable drive transmission embodiment in the position depicted in FIG. 142;

FIG. 146 is a perspective view of the cable drive transmission embodiment in the position depicted in FIG. 143;

FIG. 147 is a perspective view of another surgical tool embodiment of the present invention;

FIG. 148 is a side view of a portion of another cable-driven system embodiment for driving a cutting instrument employed in various surgical end effector embodiments of the present invention;

FIG. 149 is a top view of the cable-driven system embodiment of FIG. 148;

FIG. 150 is a top view of a tool mounting portion embodiment of another surgical tool embodiment of the present invention;

FIG. 151 is a top cross-sectional view of another surgical tool embodiment of the present invention;

FIG. 152 is a cross-sectional view of a portion of a surgical end effector embodiment of a surgical tool embodiment of the present invention;

FIG. 153 is a cross-sectional end view of the surgical end effector of FIG. 152 taken along line 153-153 in FIG. 152;

FIG. 154 is a perspective view of the surgical end effector of FIGS. 152 and 153 with portions thereof shown in cross-section;

FIG. 155 is a side view of a portion of the surgical end effector of FIGS. 152-154;

FIG. 156 is a perspective view of a sled assembly embodiment of various surgical tool embodiments of the present invention;

FIG. 157 is a cross-sectional view of the sled assembly embodiment of FIG. 156 and a portion of the elongated channel of FIG. 155;

FIGS. 158-163 diagrammatically depict the sequential firing of staples in a surgical tool embodiment of the present invention;

FIG. 164 is a partial perspective view of a portion of a surgical end effector embodiment of the present invention;

FIG. 165 is a partial cross-sectional perspective view of a portion of a surgical end effector embodiment of a surgical tool embodiment of the present invention;

FIG. 166 is another partial cross-sectional perspective view of the surgical end effector embodiment of FIG. 165 with a sled assembly axially advancing therethrough;

FIG. 167 is a perspective view of another sled assembly embodiment of another surgical tool embodiment of the present invention;

FIG. 168 is a partial top view of a portion of the surgical end effector embodiment depicted in FIGS. 165 and 166 with the sled assembly axially advancing therethrough;

FIG. 169 is another partial top view of the surgical end effector embodiment of FIG. 165 with the top surface of the surgical staple cartridge omitted for clarity;

FIG. 170 is a partial cross-sectional side view of a rotary driver embodiment and staple pusher embodiment of the surgical end effector depicted in FIGS. 165 and 166;

FIG. 171 is a perspective view of an automated reloading system embodiment of the present invention with a surgical end effector in extractive engagement with the extraction system thereof;

FIG. 172 is another perspective view of the automated reloading system embodiment depicted in FIG. 171;

FIG. 173 is a cross-sectional elevational view of the automated reloading system embodiment depicted in FIGS. 171 and 172;

FIG. 174 is another cross-sectional elevational view of the automated reloading system embodiment depicted in FIGS. 171-173 with the extraction system thereof removing a spent surgical staple cartridge from the surgical end effector;

FIG. 175 is another cross-sectional elevational view of the automated reloading system embodiment depicted in FIGS. 171-174 illustrating the loading of a new surgical staple cartridge into a surgical end effector;

FIG. 176 is a perspective view of another automated reloading system embodiment of the present invention with some components shown in cross-section;

FIG. 177 is an exploded perspective view of a portion of the automated reloading system embodiment of FIG. 176;

FIG. 178 is another exploded perspective view of the portion of the automated reloading system embodiment depicted in FIG. 177;

FIG. 179 is a cross-sectional elevational view of the automated reloading system embodiment of FIGS. 176-178;

FIG. 180 is a cross-sectional view of an orientation tube embodiment supporting a disposable loading unit therein;

FIG. 181 is a perspective view of another surgical tool embodiment of the present invention;

FIG. 182 is a partial perspective view of an articulation joint embodiment of a surgical tool embodiment of the present invention;

FIG. 183 is a perspective view of a closure tube embodiment of a surgical tool embodiment of the present invention;

FIG. 184 is a perspective view of the closure tube embodiment of FIG. 183 assembled on the articulation joint embodiment of FIG. 182;

FIG. 185 is a top view of a portion of a tool mounting portion embodiment of a surgical tool embodiment of the present invention;

FIG. 186 is a perspective view of an articulation drive assembly embodiment employed in the tool mounting portion embodiment of FIG. 185;

FIG. 187 is a perspective view of another surgical tool embodiment of the present invention; and

FIG. 188 is a perspective view of another surgical tool embodiment of the present invention.

DETAILED DESCRIPTION

Applicant of the present application also owns the following patent applications that were filed on May 27, 2011 and which are each herein incorporated by reference in their respective entireties:

    • U.S. patent application Ser. No. 13/118,259, entitled SURGICAL INSTRUMENT WITH WIRELESS COMMUNICATION BETWEEN A CONTROL UNIT OF A ROBOTIC SYSTEM AND REMOTE SENSOR, now U.S. Pat. No. 8,684,253;
    • U.S. patent application Ser. No. 13/118,210, entitled ROBOTICALLY-CONTROLLED DISPOSABLE MOTOR DRIVEN LOADING UNIT, now U.S. Pat. No. 8,752,749;
    • U.S. patent application Ser. No. 13/118,194, entitled ROBOTICALLY-CONTROLLED ENDOSCOPIC ACCESSORY CHANNEL, now U.S. Pat. No. 8,992,422;
    • U.S. patent application Ser. No. 13/118,253, entitled ROBOTICALLY-CONTROLLED MOTORIZED SURGICAL INSTRUMENT, now U.S. Pat. No. 9,386,983;
    • U.S. patent application Ser. No. 13/118,278, entitled ROBOTICALLY-CONTROLLED SURGICAL STAPLING DEVICES THAT PRODUCE FORMED STAPLES HAVING DIFFERENT LENGTHS, now U.S. Pat. No. 9,237,891;
    • U.S. patent application Ser. No. 13/118,223, entitled ROBOTICALLY-CONTROLLED SHAFT BASED ROTARY DRIVE SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 8,931,682;
    • U.S. patent application Ser. No. 13/118,263, entitled ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Patent Application Publication No. 2011/0295295;
    • U.S. patent application Ser. No. 13/118,272, entitled ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH FORCE FEEDBACK CAPABILITIES, now U.S. Patent Application Publication No. 2011/0290856;
    • U.S. patent application Ser. No. 13/118,246, entitled ROBOTICALLY-DRIVEN SURGICAL INSTRUMENT WITH E-BEAM DRIVER, now U.S. Pat. No. 9,060,770; and
    • U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535.

Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those of ordinary skill in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various embodiments of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

Uses of the phrases “in various embodiments,” “in some embodiments,” “in one embodiment”, or “in an embodiment”, or the like, throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner in one or more other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

FIGS. 1 and 2 depict a surgical cutting and fastening instrument 10 according to various embodiments of the present invention. The illustrated embodiment is an endoscopic instrument and, in general, the embodiments of the instrument 10 described herein are endoscopic surgical cutting and fastening instruments. It should be noted, however, that according to other embodiments of the present invention, the instrument may be a non-endoscopic surgical cutting and fastening instrument, such as a laparoscopic instrument.

The surgical instrument 10 depicted in FIGS. 1 and 2 comprises a handle 6, a shaft 8, and an articulating end effector 12 pivotally connected to the shaft 8 at an articulation pivot 14. An articulation control 16 may be provided adjacent to the handle 6 to effect rotation of the end effector 12 about the articulation pivot 14. In the illustrated embodiment, the end effector 12 is configured to act as an endocutter for clamping, severing and stapling tissue, although, in other embodiments, different types of end effectors may be used, such as end effectors for other types of surgical devices, such as graspers, cutters, staplers, clip appliers, access devices, drug/gene therapy devices, ultrasound, RF or laser devices, etc. More details regarding RF devices may be found in the '312 Patent.

The handle 6 of the instrument 10 may include a closure trigger 18 and a firing trigger 20 for actuating the end effector 12. It will be appreciated that instruments having end effectors directed to different surgical tasks may have different numbers or types of triggers or other suitable controls for operating the end effector 12. The end effector 12 is shown separated from the handle 6 by a preferably elongate shaft 8. In one embodiment, a clinician or operator of the instrument 10 may articulate the end effector 12 relative to the shaft 8 by utilizing the articulation control 16, as described in more detail in published U.S. Patent Application Publication No. 2007/0158385, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, now U.S. Pat. No. 7,670,334, which is incorporated herein by reference.

The end effector 12 includes in this example, among other things, a staple channel 22 and a pivotally translatable clamping member, such as an anvil 24, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the end effector 12. The handle 6 includes a pistol grip 26 towards which a closure trigger 18 is pivotally drawn by the clinician to cause clamping or closing of the anvil 24 toward the staple channel 22 of the end effector 12 to thereby clamp tissue positioned between the anvil 24 and channel 22. The firing trigger 20 is farther outboard of the closure trigger 18. Once the closure trigger 18 is locked in the closure position as further described below, the firing trigger 20 may rotate slightly toward the pistol grip 26 so that it can be reached by the operator using one hand. Then the operator may pivotally draw the firing trigger 20 toward the pistol grip 12 to cause the stapling and severing of clamped tissue in the end effector 12. In other embodiments, different types of clamping members besides the anvil 24 could be used, such as, for example, an opposing jaw, etc.

It will be appreciated that the terms “proximal” and “distal” are used herein with reference to a clinician gripping the handle 6 of an instrument 10. Thus, the end effector 12 is distal with respect to the more proximal handle 6. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical” and “horizontal” are used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and absolute.

The closure trigger 18 may be actuated first. Once the clinician is satisfied with the positioning of the end effector 12, the clinician may draw back the closure trigger 18 to its fully closed, locked position proximate to the pistol grip 26. The firing trigger 20 may then be actuated. The firing trigger 20 returns to the open position (shown in FIGS. 1 and 2) when the clinician removes pressure, as described more fully below. A release button on the handle 6, when depressed may release the locked closure trigger 18. The release button may be implemented in various forms such as, for example, as a slide release button 160 shown in FIG. 7 or any of the mechanisms described in published U.S. Patent Application Publication No. 2007/0175955, which is incorporated herein by reference.

FIG. 3 is an exploded view of the end effector 12 according to various embodiments. As shown in the illustrated embodiment, the end effector 12 may include, in addition to the previously mentioned channel 22 and anvil 24, a cutting instrument 32, a sled 33, a staple cartridge 34 that is removably seated in the channel 22, and a helical screw shaft 36. The cutting instrument 32 may be, for example, a knife. The anvil 24 may be pivotably opened and closed at a pivot point 25 connected to the proximate end of the channel 22. The anvil 24 may also include a tab 27 at its proximate end that is inserted into a component of the mechanical closure system (described further below) to open and close the anvil 24. When the closure trigger 18 is actuated, that is, drawn in by a user of the instrument 10, the anvil 24 may pivot about the pivot point 25 into the clamped or closed position. If clamping of the end effector 12 is satisfactory, the operator may actuate the firing trigger 20, which, as explained in more detail below, causes the knife 32 and sled 33 to travel longitudinally along the channel 22, thereby cutting tissue clamped within the end effector 12. The movement of the sled 33 along the channel 22 causes the staples of the staple cartridge 34 to be driven through the severed tissue and against the closed anvil 24, which turns the staples to fasten the severed tissue. In various embodiments, the sled 33 may be an integral component of the cartridge 34. U.S. Pat. No. 6,978,921, entitled SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM, which is incorporated herein by reference, provides more details about such two-stroke cutting and fastening instruments. The sled 33 may be part of the cartridge 34, such that when the knife 32 retracts following the cutting operation, the sled 33 does not retract.

It should be noted that although the embodiments of the instrument 10 described herein employ an end effector 12 that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, disclose an endoscopic cutting instrument that uses RF energy to seal the severed tissue. Published U.S. Patent Application Publication No. 2007/0102453, now U.S. Pat. No. 7,673,783, and published U.S. Patent Application Publication No. 2007/0102452, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose endoscopic cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like below, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used.

FIGS. 4 and 5 are exploded views and FIG. 6 is a side view of the end effector 12 and shaft 8 according to various embodiments. As shown in the illustrated embodiment, the shaft 8 may include a proximate closure tube 40 and a distal closure tube 42 pivotably linked by a pivot links 44. The distal closure tube 42 includes an opening 45 into which the tab 27 on the anvil 24 is inserted in order to open and close the anvil 24, as further described below. Disposed inside the closure tubes 40, 42 may be a proximate spine tube 46. Disposed inside the proximate spine tube 46 may be a main rotational (or proximate) drive shaft 48 that communicates with a secondary (or distal) drive shaft 50 via a bevel gear assembly 52. The secondary drive shaft 50 is connected to a drive gear 54 that engages a proximate drive gear 56 of the helical screw shaft 36. The vertical bevel gear 52b may sit and pivot in an opening 57 in the distal end of the proximate spine tube 46. A distal spine tube 58 may be used to enclose the secondary drive shaft 50 and the drive gears 54, 56. Collectively, the main drive shaft 48, the secondary drive shaft 50, and the articulation assembly (e.g., the bevel gear assembly 52a-c) are sometimes referred to herein as the “main drive shaft assembly.”

A bearing 38, positioned at a distal end of the staple channel 22, receives the helical drive screw 36, allowing the helical drive screw 36 to freely rotate with respect to the channel 22. The helical screw shaft 36 may interface a threaded opening (not shown) of the knife 32 such that rotation of the shaft 36 causes the knife 32 to translate distally or proximately (depending on the direction of the rotation) through the staple channel 22. Accordingly, when the main drive shaft 48 is caused to rotate by actuation of the firing trigger 20 (as explained in more detail below), the bevel gear assembly 52a-c causes the secondary drive shaft 50 to rotate, which in turn, because of the engagement of the drive gears 54, 56, causes the helical screw shaft 36 to rotate, which causes the knife driving member 32 to travel longitudinally along the channel 22 to cut any tissue clamped within the end effector. The sled 33 may be made of, for example, plastic, and may have a sloped distal surface. As the sled 33 traverses the channel 22, the sloped forward surface may push up or drive the staples in the staple cartridge through the clamped tissue and against the anvil 24. The anvil 24 turns the staples, thereby stapling the severed tissue. When the knife 32 is retracted, the knife 32 and sled 33 may become disengaged, thereby leaving the sled 33 at the distal end of the channel 22.

FIGS. 7-10 illustrate an exemplary embodiment of a motor-driven endocutter. The illustrated embodiment provides user-feedback regarding the deployment and loading force of the cutting instrument in the end effector. In addition, the embodiment may use power provided by the user in retracting the firing trigger 20 to power the device (a so-called “power assist” mode). As shown in the illustrated embodiment, the handle 6 includes exterior lower side pieces 59, 60 and exterior upper side pieces 61, 62 that fit together to form, in general, the exterior of the handle 6. A battery 64, such as a Li ion battery, may be provided in the pistol grip portion 26 of the handle 6. The battery 64 powers a motor 65 disposed in an upper portion of the pistol grip portion 26 of the handle 6. According to various embodiments, a number of battery cells connected in series may be used to power the motor 65.

The motor 65 may be a DC brushed driving motor having a maximum rotation of approximately 25,000 RPM with no load. The motor 64 may drive a 90° bevel gear assembly 66 comprising a first bevel gear 68 and a second bevel gear 70. The bevel gear assembly 66 may drive a planetary gear assembly 72. The planetary gear assembly 72 may include a pinion gear 74 connected to a drive shaft 76. The pinion gear 74 may drive a mating ring gear 78 that drives a helical gear drum 80 via a drive shaft 82. A ring 84 may be threaded on the helical gear drum 80. Thus, when the motor 65 rotates, the ring 84 is caused to travel along the helical gear drum 80 by means of the interposed bevel gear assembly 66, planetary gear assembly 72, and ring gear 78.

The handle 6 may also include a run motor sensor 110 in communication with the firing trigger 20 to detect when the firing trigger 20 has been drawn in (or “closed”) toward the pistol grip portion 26 of the handle 6 by the operator to thereby actuate the cutting/stapling operation by the end effector 12. The sensor 110 may be a proportional sensor such as, for example, a rheostat, or variable resistor. When the firing trigger 20 is drawn in, the sensor 110 detects the movement, and sends an electrical signal indicative of the voltage (or power) to be supplied to the motor 65. When the sensor 110 is a variable resistor or the like, the rotation of the motor 65 may be generally proportional to the amount of movement of the firing trigger 20. That is, if the operator only draws or closes the firing trigger 20 in a little bit, the rotation of the motor 65 is relatively low. When the firing trigger 20 is fully drawn in (or in the fully closed position), the rotation of the motor 65 is at its maximum. In other words, the harder the user pulls on the firing trigger 20, the more voltage is applied to the motor 65, causing greater rates of rotation.

The handle 6 may include a middle handle piece 104 adjacent to the upper portion of the firing trigger 20. The handle 6 also may comprise a bias spring 112 connected between posts on the middle handle piece 104 and the firing trigger 20. The bias spring 112 may bias the firing trigger 20 to its fully open position. In that way, when the operator releases the firing trigger 20, the bias spring 112 will pull the firing trigger 20 to its open position, thereby removing actuation of the sensor 110, thereby stopping rotation of the motor 65. Moreover, by virtue of the bias spring 112, any time a user closes the firing trigger 20, the user will experience resistance to the closing operation, thereby providing the user with feedback as to the amount of rotation exerted by the motor 65. Further, the operator could stop retracting the firing trigger 20 to thereby remove force from the sensor 100, to thereby stop the motor 65. As such, the user may stop the deployment of the end effector 12, thereby providing a measure of control of the cutting/fastening operation to the operator.

The distal end of the helical gear drum 80 includes a distal drive shaft 120 that drives a ring gear 122, which mates with a pinion gear 124. The pinion gear 124 is connected to the main drive shaft 48 of the main drive shaft assembly. In that way, rotation of the motor 65 causes the main drive shaft assembly to rotate, which causes actuation of the end effector 12, as described above.

The ring 84 threaded on the helical gear drum 80 may include a post 86 that is disposed within a slot 88 of a slotted arm 90. The slotted arm 90 has an opening 92 its opposite end 94 that receives a pivot pin 96 that is connected between the handle exterior side pieces 59, 60. The pivot pin 96 is also disposed through an opening 100 in the firing trigger 20 and an opening 102 in the middle handle piece 104.

In addition, the handle 6 may include a reverse motor (or end-of-stroke sensor) 130 and a stop motor (or beginning-of-stroke) sensor 142. In various embodiments, the reverse motor sensor 130 may be a limit switch located at the distal end of the helical gear drum 80 such that the ring 84 threaded on the helical gear drum 80 contacts and trips the reverse motor sensor 130 when the ring 84 reaches the distal end of the helical gear drum 80. The reverse motor sensor 130, when activated, sends a signal to the motor 65 to reverse its rotation direction, thereby withdrawing the knife 32 of the end effector 12 following the cutting operation. The stop motor sensor 142 may be, for example, a normally-closed limit switch. In various embodiments, it may be located at the proximate end of the helical gear drum 80 so that the ring 84 trips the switch 142 when the ring 84 reaches the proximate end of the helical gear drum 80.

In operation, when an operator of the instrument 10 pulls back the firing trigger 20, the sensor 110 detects the deployment of the firing trigger 20 and sends a signal to the motor 65 to cause forward rotation of the motor 65 at, for example, a rate proportional to how hard the operator pulls back the firing trigger 20. The forward rotation of the motor 65 in turn causes the ring gear 78 at the distal end of the planetary gear assembly 72 to rotate, thereby causing the helical gear drum 80 to rotate, causing the ring 84 threaded on the helical gear drum 80 to travel distally along the helical gear drum 80. The rotation of the helical gear drum 80 also drives the main drive shaft assembly as described above, which in turn causes deployment of the knife 32 in the end effector 12. That is, the knife 32 and sled 33 are caused to traverse the channel 22 longitudinally, thereby cutting tissue clamped in the end effector 12. Also, the stapling operation of the end effector 12 is caused to happen in embodiments where a stapling-type end effector is used.

By the time the cutting/stapling operation of the end effector 12 is complete, the ring 84 on the helical gear drum 80 will have reached the distal end of the helical gear drum 80, thereby causing the reverse motor sensor 130 to be tripped, which sends a signal to the motor 65 to cause the motor 65 to reverse its rotation. This in turn causes the knife 32 to retract, and also causes the ring 84 on the helical gear drum 80 to move back to the proximate end of the helical gear drum 80.

The middle handle piece 104 includes a backside shoulder 106 that engages the slotted arm 90 as best shown in FIGS. 8 and 9. The middle handle piece 104 also has a forward motion stop 107 that engages the firing trigger 20. The movement of the slotted arm 90 is controlled, as explained above, by rotation of the motor 65. When the slotted arm 90 rotates CCW as the ring 84 travels from the proximate end of the helical gear drum 80 to the distal end, the middle handle piece 104 will be free to rotate CCW. Thus, as the user draws in the firing trigger 20, the firing trigger 20 will engage the forward motion stop 107 of the middle handle piece 104, causing the middle handle piece 104 to rotate CCW. Due to the backside shoulder 106 engaging the slotted arm 90, however, the middle handle piece 104 will only be able to rotate CCW as far as the slotted arm 90 permits. In that way, if the motor 65 should stop rotating for some reason, the slotted arm 90 will stop rotating, and the user will not be able to further draw in the firing trigger 20 because the middle handle piece 104 will not be free to rotate CCW due to the slotted arm 90.

Components of an exemplary closure system for closing (or clamping) the anvil 24 of the end effector 12 by retracting the closure trigger 18 are also shown in FIGS. 7-10. In the illustrated embodiment, the closure system includes a yoke 250 connected to the closure trigger 18 by a pin 251 that is inserted through aligned openings in both the closure trigger 18 and the yoke 250. A pivot pin 252, about which the closure trigger 18 pivots, is inserted through another opening in the closure trigger 18 which is offset from where the pin 251 is inserted through the closure trigger 18. Thus, retraction of the closure trigger 18 causes the upper part of the closure trigger 18, to which the yoke 250 is attached via the pin 251, to rotate CCW. The distal end of the yoke 250 is connected, via a pin 254, to a first closure bracket 256. The first closure bracket 256 connects to a second closure bracket 258. Collectively, the closure brackets 256, 258 define an opening in which the proximate end of the proximate closure tube 40 (see FIG. 4) is seated and held such that longitudinal movement of the closure brackets 256, 258 causes longitudinal motion by the proximate closure tube 40. The instrument 10 also includes a closure rod 260 disposed inside the proximate closure tube 40. The closure rod 260 may include a window 261 into which a post 263 on one of the handle exterior pieces, such as exterior lower side piece 59 in the illustrated embodiment, is disposed to fixedly connect the closure rod 260 to the handle 6. In that way, the proximate closure tube 40 is capable of moving longitudinally relative to the closure rod 260. The closure rod 260 may also include a distal collar 267 that fits into a cavity 269 in proximate spine tube 46 and is retained therein by a cap 271 (see FIG. 4).

In operation, when the yoke 250 rotates due to retraction of the closure trigger 18, the closure brackets 256, 258 cause the proximate closure tube 40 to move distally (i.e., away from the handle end of the instrument 10), which causes the distal closure tube 42 to move distally, which causes the anvil 24 to rotate about the pivot point 25 into the clamped or closed position. When the closure trigger 18 is unlocked from the locked position, the proximate closure tube 40 is caused to slide proximately, which causes the distal closure tube 42 to slide proximately, which, by virtue of the tab 27 being inserted in the window 45 of the distal closure tube 42, causes the anvil 24 to pivot about the pivot point 25 into the open or unclamped position. In that way, by retracting and locking the closure trigger 18, an operator may clamp tissue between the anvil 24 and channel 22, and may unclamp the tissue following the cutting/stapling operation by unlocking the closure trigger 20 from the locked position.

FIG. 11 is a schematic diagram of an electrical circuit of the instrument 10 according to various embodiments of the present invention. When an operator initially pulls in the firing trigger 20 after locking the closure trigger 18, the sensor 110 is activated, allowing current to flow there through. If the normally-open reverse motor sensor switch 130 is open (meaning the end of the end effector stroke has not been reached), current will flow to a single pole, double throw relay 132. Since the reverse motor sensor switch 130 is not closed, the inductor 134 of the relay 132 will not be energized, so the relay 132 will be in its non-energized state. The circuit also includes a cartridge lockout sensor 136. If the end effector 12 includes a staple cartridge 34, the sensor 136 will be in the closed state, allowing current to flow. Otherwise, if the end effector 12 does not include a staple cartridge 34, the sensor 136 will be open, thereby preventing the battery 64 from powering the motor 65.

When the staple cartridge 34 is present, the sensor 136 is closed, which energizes a single pole, single throw relay 138. When the relay 138 is energized, current flows through the relay 136, through the variable resistor sensor 110, and to the motor 65 via a double pole, double throw relay 140, thereby powering the motor 65, and allowing it to rotate in the forward direction. When the end effector 12 reaches the end of its stroke, the reverse motor sensor 130 will be activated, thereby closing the switch 130 and energizing the relay 134. This causes the relay 134 to assume its energized state (not shown in FIG. 13), which causes current to bypass the cartridge lockout sensor 136 and variable resistor 110, and instead causes current to flow to both the normally-closed double pole, double throw relay 142 and back to the motor 65, but in a manner, via the relay 140, that causes the motor 65 to reverse its rotational direction. Because the stop motor sensor switch 142 is normally closed, current will flow back to the relay 134 to keep it closed until the switch 142 opens. When the knife 32 is fully retracted, the stop motor sensor switch 142 is activated, causing the switch 142 to open, thereby removing power from the motor 65.

In other embodiments, rather than a proportional-type sensor 110, an on-off type sensor could be used. In such embodiments, the rate of rotation of the motor 65 would not be proportional to the force applied by the operator. Rather, the motor 65 would generally rotate at a constant rate. But the operator would still experience force feedback because the firing trigger 20 is geared into the gear drive train.

Additional configurations for motorized surgical instruments are disclosed in published U.S. Patent Application Publication No. 2007/0175962, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, now U.S. Pat. No. 7,422,139, which is incorporated herein by reference.

In a motorized surgical instrument, such as one of the motorized endoscopic instruments described above or in a motorized circular cutter instrument, the motor may be powered by a number of battery cells connected in series. Further, it may be desirable in certain circumstances to power the motor with some fraction of the total number of battery cells. For example, as shown in FIG. 12, the motor 65 may be powered by a power pack 299 comprising six (6) battery cells 310 connected in series. The battery cells 310 may be, for example, 3-volt lithium battery cells, such as CR 123A battery cells, although in other embodiments, different types of battery cells could be used (including battery cells with different voltage levels and/or different chemistries). If six 3-volt battery cells 310 were connected in series to power the motor 65, the total voltage available to power the motor 65 would be 18 volts. The battery cells 310 may comprise rechargeable or non-rechargeable battery cells.

In such an embodiment, under the heaviest loads, the input voltage to the motor 65 may sag to about nine to ten volts. At this operating condition, the power pack 299 is delivering maximum power to the motor 65. Accordingly, as shown in FIG. 12, the circuit may include a switch 312 that selectively allows the motor 65 to be powered by either (1) all of the battery cells 310 or (2) a fraction of the battery cells 310. As shown in FIG. 12, by proper selection, the switch 312 may allow the motor 65 to be powered by all six battery cells or four of the battery cells. That way, the switch 312 could be used to power the motor 65 with either 18 volts (when using all six battery cells 310) or 12 volts (such using four of the second battery cells). In various embodiments, the design choice for the number of battery cells in the fraction that is used to power the motor 65 may be based on the voltage required by the motor 65 when operating at maximum output for the heaviest loads.

The switch 312 may be, for example, an electromechanical switch, such as a micro switch. In other embodiments, the switch 312 may be implemented with a solid-state switch, such as transistor. A second switch 314, such as a push button switch, may be used to control whether power is applied to the motor 65 at all. Also, a forward/reverse switch 316 may be used to control whether the motor 65 rotates in the forward direction or the reverse direction. The forward/reverse switch 316 may be implemented with a double pole—double throw switch, such as the relay 140 shown in FIG. 11.

In operation, the user of the instrument 10 could select the desired power level by using some sort of switch control, such as a position-dependent switch (not shown), such as a toggle switch, a mechanical lever switch, or a cam, which controls the position of the switch 312. Then the user may activate the second switch 314 to connect the selected battery cells 310 to the motor 65. In addition, the circuit shown in FIG. 12 could be used to power the motor of other types of motorized surgical instruments, such as circular cutters and/or laparoscopic instruments. More details regarding circular cutters may be found in published U.S. Patent Application Publication Nos. 2006/0047307, now U.S. Pat. No. 8,317,074, and 2007/0262116, now U.S. Pat. No. 7,500,979, which are incorporated herein by reference.

In other embodiments, as shown in FIG. 13, a primary power source 340, such as a battery cell, such as a CR2 or CR123A battery cell, may be used to charge a number of secondary accumulator devices 342. The primary power source 340 may comprise one or a number of series-connected battery cells, which are preferably replaceable in the illustrated embodiment. The secondary accumulator devices 342 may comprise, for example, rechargeable battery cells and/or supercapacitors (also known as “ultracapacitors” or “electrochemical double layer capacitors” (EDLC)). Supercapacitors are electrochemical capacitors that have an unusually high energy density when compared to common electrolytic capacitors, typically on the order of thousands of times greater than a high-capacity electrolytic capacitor.

The primary power source 340 may charge the secondary accumulator devices 342. Once sufficiently charged, the primary power source 340 may be removed and the secondary accumulator devices 342 may be used to power the motor 65 during a procedure or operation. The accumulating devices 342 may take about fifteen to thirty minutes to charge in various circumstances. Supercapacitors have the characteristic they can charge and discharge extremely rapidly in comparison to conventional batteries. In addition, whereas batteries are good for only a limited number of charge/discharge cycles, supercapacitors can often be charged/discharged repeatedly, sometimes for tens of millions of cycles. For embodiments using supercapacitors as the secondary accumulator devices 342, the supercapacitors may comprise carbon nanotubes, conductive polymers (e.g., polyacenes), or carbon aerogels.

As shown in FIG. 14, a charge management circuit 344 could be employed to determine when the secondary accumulator devices 342 are sufficiently charged. The charge management circuit 344 may include an indicator, such as one or more LEDs, an LCD display, etc., that is activated to alert a user of the instrument 10 when the secondary accumulator devices 342 are sufficiently charged.

The primary power source 340, the secondary accumulator devices 342, and the charge management circuit 344 may be part of a power pack in the pistol grip portion 26 of the handle 6 of the instrument 10, or in another part of the instrument 10. The power pack may be removable from the pistol grip portion 26, in which case, when the instrument 10 is to be used for surgery, the power pack may be inserted aseptically into the pistol grip portion 26 (or other position in the instrument according to other embodiments) by, for example, a circulating nurse assisting in the surgery. After insertion of the power pack, the nurse could put the replaceable primary power source 340 in the power pack to charge up the secondary accumulator devices 342 a certain time period prior to use of the instrument 10, such as thirty minutes. When the secondary accumulator devices 342 are charged, the charge management circuit 344 may indicate that the power pack is ready for use. At this point, the replaceable primary power source 340 may be removed. During the operation, the user of the instrument 10 may then activate the motor 65, such as by activating the switch 314, whereby the secondary accumulator devices 342 power the motor 65. Thus, instead of having a number of disposable batteries to power the motor 65, one disposable battery (as the primary power source 340) could be used in such an embodiment, and the secondary accumulator devices 342 could be reusable. In alternative embodiments, however, it should be noted that the secondary accumulator devices 342 could be non-rechargeable and/or non-reusable. The secondary accumulators 342 may be used with the cell selection switch 312 described above in connection with FIG. 12.

The charge management circuit 344 may also include indicators (e.g., LEDs or LCD display) that indicate how much charge remains in the secondary accumulator devices 342. That way, the surgeon (or other user of the instrument 10) can see how much charge remains through the course of the procedure involving the instrument 10.

The charge management circuit 344, as shown in FIG. 15, may comprise a charge meter 345 for measuring the charge across the secondary accumulators 342. The charge management circuit 344 also may comprise a non-volatile memory 346, such as flash or ROM memory, and one or more processors 348. The processor(s) 348 may be connected to the memory 346 to control the memory. In addition, the processor(s) 348 may be connected to the charge meter 345 to read the readings of and otherwise control the charge meter 345. Additionally, the processor(s) 348 may control the LEDs or other output devices of the charge management circuit 344. The processor(s) 348 can store parameters of the instrument 10 in the memory 346. The parameters may include operating parameters of the instrument that are sensed by various sensors that may be installed or employed in the instrument 10, such as, for example, the number of firings, the levels of forces involved, the distance of the compression gap between the opposing jaws of the end effector 12, the amount of articulation, etc. Additionally, the parameters stored in the memory 346 may comprise ID values for various components of the instrument 10 that the charge management circuit 344 may read and store. The components having such IDs may be replaceable components, such as the staple cartridge 34. The IDs may be for example, RFIDs that the charge management circuit 344 reads via a RFID transponder 350. The RFID transponder 350 may read RFIDs from components of the instrument, such as the staple cartridge 34, that include RFID tags. The ID values may be read, stored in the memory 346, and compared by the processor 348 to a list of acceptable ID values stored in the memory 346 or another store associated with the charge management circuit, to determine, for example, if the removable/replaceable component associated with the read ID value is authentic and/or proper. According to various embodiments, if the processor 348 determines that the removable/replaceable component associated with the read ID value is not authentic, the charge management circuit 344 may prevent use of the power pack by the instrument 10, such as by opening a switch (not shown) that would prevent power from the power pack being delivered to the motor 65. According to various embodiments, various parameters that the processor 348 may evaluate to determine whether the component is authentic and/or proper include: date code; component model/type; manufacturer; regional information; and previous error codes.

The charge management circuit 344 may also comprise an i/o interface 352 for communicating with another device, such as described below. That way, the parameters stored in the memory 346 may be downloaded to another device. The i/o interface 352 may be, for example, a wired or wireless interface.

As mentioned before, the power pack may comprise the secondary accumulators 342, the charge management circuit 344, and/or the f/r switch 316. According to various embodiments, as shown in FIG. 16, the power pack 299 could be connected to a charger base 362, which may, among other things, charge the secondary accumulators 342 in the power pack. The charger base 362 could be connected to the power pack 299 by connecting aseptically the charger base 362 to the power pack 299 while the power pack is installed in the instrument 10. In other embodiments where the power pack is removable, the charger base 362 could be connected to the power pack 299 by removing the power pack 299 from the instrument 10 and connecting it to the charger base 362. For such embodiments, after the charger base 362 sufficiently charges the secondary accumulators 342, the power pack 299 may be aseptically installed in the instrument 10.

As shown in FIG. 16, the charger base 362 may comprise a power source 364 for charging the secondary accumulators 342. The power source 364 of the charger base 362 may be, for example, a battery (or a number of series-connected batteries), or an AC/DC converter that converters AC power, such as from electrical power mains, to DC, or any other suitable power source for charging the secondary accumulators 342. The charger base 362 may also comprise indicator devices, such as LEDs, a LCD display, etc., to show the charge status of the secondary accumulators 342.

In addition, as shown in FIG. 16, the charger base 362 may comprise one or more processors 366, one or more memory units 368, and i/o interfaces 370, 372. Through the first i/o interface 370, the charger base 362 may communicate with the power pack 299 (via the power pack's i/o interface 352). That way, for example, data stored in the memory 346 of the power pack 299 may be downloaded to the memory 368 of the charger base 362. In that way, the processor 366 can evaluate the ID values for the removable/replaceable components, downloaded from the charge management circuit 344, to determine the authenticity and suitability of the components. The operating parameters downloaded from the charge management circuit 344 may also stored in the memory 368, and then may then be downloaded to another computer device via the second i/o interface 372 for evaluation and analysis, such as by the hospital system in which the operation involving the instrument 10 is performed, by the office of the surgeon, by the distributor of the instrument, by the manufacturer of the instrument, etc.

The charger base 362 may also comprise a charge meter 374 for measuring the charge across the secondary accumulators 342. The charge meter 374 may be in communication with the processor(s) 366, so that the processor(s) 366 can determine in real-time the suitability of the power pack 299 for use to ensure high performance.

In another embodiment, as shown in FIG. 17, the battery circuit may comprise a power regulator 320 to control the power supplied by the power savers 310 to the motor 65. The power regulator 320 may also be part of the power pack 299, or it may be a separate component. As mentioned above, the motor 65 may be a brushed DC motor. The speed of brushed DC motors generally is proportional to the applied input voltage. The power regulator 320 may provide a highly regulated output voltage to the motor 65 so that the motor 65 will operate at a constant (or substantially constant) speed. According to various embodiments, the power regulator 320 may comprise a switch-mode power converter, such as a buck-boost converter, as shown in the example of FIG. 17. Such a buck-boost converter 320 may comprise a power switch 322, such as a FET, a rectifier 32, an inductor 326, and a capacitor 328. When the power switch 322 is on, the input voltage source (e.g., the power sources 310) is directly connected to the inductor 326, which stores energy in this state. In this state, the capacitor 328 supplies energy to the output load (e.g., the motor 65). When the power switch 320 is in the off state, the inductor 326 is connected to the output load (e.g., the motor 65) and the capacitor 328, so energy is transferred from the inductor 326 to the capacitor 328 and the load 65. A control circuit 330 may control the power switch 322. The control circuit 330 may employ digital and/or analog control loops. In addition, in other embodiments, the control circuit 330 may receive control information from a master controller (not shown) via a communication link, such as a serial or parallel digital data bus. The voltage set point for the output of the power regulator 320 may be set, for example, to one-half of the open circuit voltage, at which point the maximum power available from the source is available.

In other embodiments, different power converter topologies may be employed, including linear or switch-mode power converters. Other switch-mode topologies that may be employed include a flyback, forward, buck, boost, and SEPIC. The set point voltage for the power regulator 320 could be changed depending on how many of the battery cells are being used to power the motor 65. Additionally, the power regulator 320 could be used with the secondary accumulator devices 342 shown in FIG. 13. Further, the forward-reverse switch 316 could be incorporated into the power regulator 320, although it is shown separately in FIG. 17.

Batteries can typically be modeled as an ideal voltage source and a source resistance. For an ideal model, when the source and load resistance are matched, maximum power is transferred to the load. FIG. 18 shows a typical power curve for a battery. When the battery circuit is open, the voltage across the battery is high (at its open circuit value) and the current drawn from the battery is zero. The power delivered from the battery is zero also. As more current is drawn from the battery, the voltage across the battery decreases. The power delivered by the battery is the product of the current and the voltage. The power reaches its peak around at a voltage level that is less than the open circuit voltage. As shown in FIG. 18, with most battery chemistries there is a sharp drop in the voltage/power at higher current because of the chemistry or positive temperature coefficient (PTC), or because of a battery protection device.

Particularly for embodiments using a battery (or batteries) to power the motor 65 during a procedure, the control circuit 330 can monitor the output voltage and control the set point of the regulator 320 so that the battery operates on the “left” or power-increasing side of the power curve. If the battery reaches the peak power level, the control circuit 330 can change (e.g., lower) the set point of the regulator so that less total power is being demanded from the battery. The motor 65 would then slow down. In this way, the demand from the power pack would rarely if ever exceed the peak available power so that a power-starving situation during a procedure could be avoided.

In addition, according to other embodiments, the power drawn from the battery may be optimized in such a way that the chemical reactions within the battery cells would have time to recover, to thereby optimize the current and power available from the battery. In pulsed loads, batteries typically provide more power at the beginning of the pulse that toward the end of the pulse. This is due to several factors, including: (1) the PTC may be changing its resistance during the pulse; (2) the temperature of the battery may be changing; and (3) the electrochemical reaction rate is changing due to electrolyte at the cathode being depleted and the rate of diffusion of the fresh electrolyte limits the reaction rate. According to various embodiments, the control circuit 330 may control the converter 320 so that it draws a lower current from the battery to allow the battery to recover before it is pulsed again.

According to other embodiments, the instrument 10 may comprise a clutch-type torque-limiting device. The clutch-type torque-limiting device may be located, for example, between the motor 65 and the bevel gear 68, between the bevel gear 70 and the planetary gear assembly 72, or on the output shaft of the planetary gear assembly 72. According to various embodiments, the torque-limiting device may use an electromagnetic or permanent magnetic clutch.

FIGS. 19 to 22 show a sample electromagnetic clutch 400 that could be used in the instrument 10 according to various embodiments. The clutch 400 may comprise a horseshoe-shaped stator 402 having magnetic disks 404, 406 at each end. The first disk 404 may be connected to an axially movable, rotatable pole piece 408, such as the output pole of the motor 65. The second magnetic disk 406 may be connected to an axially stationary, rotatable pole piece 410, such as an input pole to a gear box of the instrument 10. In the views of FIGS. 19 and 20, the first pole piece 408 is axially pulled away from the second pole piece 410 by a clearance 412 such that the magnetic disks 404, 406 are not engaged. A wire coil (not shown), which may be wrapped around the stator 402 may be used to create the electromagnetic flux needed to actuate the clutch 400. When the coil conducts an electrical current, the resulting magnetic flux may cause the two magnetic disks 404, 406 to attract, causing the first pole piece 408 to move axially toward the second pole piece 410, thereby causing the two magnetic disks 404, 406 to become engaged, as shown in FIGS. 21 and 22, such that the two pole pieces 408, 410 will rotate together until the torque exceeds the friction torque generated between the faces of magnetic disks 404 and 406.

The attractive force between the two disks 404, 406 and the corresponding torque capacity of the clutch 400 could be controlled by controlling the diameter of the disks 404, 406, the coefficient of friction between the contacting faces of magnetic disks 404 and 406, and by using magnetic materials for the disks 404, 406 that saturate at a known and controllable flux density. Therefore, even if there was an operating condition where more current was passed through the coil, the magnetic material of the disks 404, 406 would not generate a greater attractive force and subsequent limiting torque.

Utilization of such a clutch has many additional potential benefits. Being electrically controlled, the clutch 400 could be quickly deactivated by removing current from the wire to limit the amount of heat generated within the clutch 400 and within the motor 65. By disconnecting the motor from the rest of the drive train, via the clutch 400, most of the stored inertial energy in the drive train would be disconnected, limiting shock if the output were to be blocked suddenly. In addition, by being electrically controlled, some limited slipping could be designed-in to aid in reducing shocks when restarting the drive train under load. Further, because the magnetic saturation properties of one or more of the components (e.g., the magnetic disks 404, 406) within the clutch could be used to control the torque limit instead of coil current, the clutch 400 would be less sensitive to changes in system voltage. The torque limit in such embodiments would be primarily a function of the physical dimensions of the components of the clutch (e.g., the magnetic disks 404, 406) and would not require voltage regulators or other external components for proper operation.

In another embodiment, rather than using an electromagnetic clutch, the torque-limiting device may comprise a permanent magnet (not shown). The permanent magnet may be connected, for example, to the first, axially-movable, pole piece 408, and attract the axially-fixed second pole piece 410, or vice versa. In such embodiments, one of the disks 404, 406 could be made of a permanent magnet and the other one of a magnetic material like iron. In a slight variation, the stator 402 could be made in the form of a permanent magnet, causing the magnetic disks 404 and 406 to be attracted to each other. Because of the permanent magnet, the two disks 404, 406 would be engaged always. Using a permanent magnet would not provide as accurate as torque control as the electromagnetic clutch configuration described above, but it would have the advantages of: (1) not requiring controls or control logic to control the current through the coil; (2) being more compact that the electromagnetic clutch configuration; and (3) simplifying design of the instrument 10.

As mentioned previously, the end effector 12 may emit RF energy to coagulate tissue clamped in the end effector. The RF energy may be transmitted between electrodes in the end effector 12. A RF source (not shown), comprising, for example, an oscillator and an amplifier, among other components, which may supply the RF energy to the electrode, may be located in the instrument itself, such as in the handle 6 for a cordless instrument 10, or the RF source may be external to the instrument 10. The RF source may be activated as described further below.

According to various embodiments, the end effector 12 may comprise multiple sections (or segments) of electrodes. For example, as shown in the example of FIG. 23, the lower surface of the anvil 24 (i.e., the surface facing the staple cartridge 34) may comprise three co-linear RF segments. In this example, each segment has the same length (e.g., 20 mm), although in other embodiments there may be more or fewer segments, and the segments may have different lengths. In the example of FIG. 23, there are three pairs of active or “anode” terminals or electrodes 500 lined up longitudinally along each side of the channel length on the lower surface of the anvil 24. In particular, in the illustrated embodiment there is a pair of distal electrodes 5001, a pair of middle electrodes 5002, and a pair of proximate electrodes 5003 on each side of the knife channel 516. The metallic outer portion or channel 22 of the end effector 12 or the metallic anvil 24 may serve as the counter-electrode (or cathode) for each of the three upper active electrodes (or anodes) 500. The upper electrodes 500 may be coupled to the RF source. When energized, RF energy may propagate between the upper electrodes 500 and the counter electrode, coagulating tissue clamped between the electrodes.

The electrodes 500 may be energized simultaneously or in various orders, such as sequentially. For embodiments where the electrodes 500 are energized according to a sequence, the sequence may be automatic (controlled, for example, by a controller (not shown) in communication with the RF source) or by selection by the user. For example, the proximate electrodes 5003 could be energized first; then the middle electrodes 5002; then the distal electrodes 5001. That way, the operator (e.g., the operating surgeon) can selectively coagulate areas of the staple line. The electrodes in such an embodiment could be controlled by a multiplexer and/or a multiple output generator, as described further below. That way, the tissue under each electrode 500 could be treated individually according to the coagulation needs. Each electrode in the pair may be connected to the RF source so that they are energized at the same time. That is, for the distal pair of active electrodes 5001, each, being on opposite sides of the knife channel, may be energized by the RF source at the same time. Same for the middle pair of electrodes 5002 and the proximate pair of electrodes 5003, although, in an embodiment where the electrode pairs are energized in sequence, the distal pair is not energized at the same time as the middle and proximate pairs, and so on.

Further, various electrical parameters, such as impedance, delivered power or energy, etc., could be monitored and the output to particular electrodes 500 could be modified to produce the most desirable tissue effect. Additionally, another advantage is in the case of a metal staple or other electrically conductive object left from a previous instrument firing or surgical procedure that may cause a short of the electrodes. Such a short situation could be detected by the generator and/or multiplexer, and the energy could be modulated in a manner appropriate for the short circuit.

In addition, energizing the electrodes 500 in sequence reduces the instantaneous power required from the RF source in comparison to a design that would has one set of electrodes as long as the combined length of the three segmented electrodes 500 shown in FIG. 23. For example, for electrode configurations as shown in the '312 Patent, it has been demonstrated that it would require fifty to one-hundred watts to coagulate successfully forty-five mm lines on either side of the cut line. By using smaller active electrodes (e.g., the upper electrodes 500) that have less surface area than the larger return electrodes (e.g., the metallic anvil 24), the smaller active electrodes 500 can concentrate the therapeutic energy at the tissue while the larger, return electrode is used to complete the circuit with minimal impact on the tissue interface. In addition, the return electrode preferably has greater mass and thereby is able to stay cooler during electrosurgical application.

The electrodes 500 may be surrounded by an electrically insulating material 504, which may comprise a ceramic material.

FIG. 24 shows another embodiment having segmented RF electrodes. In the embodiment shown in FIG. 24, there are four co-linear segmented electrodes 5001-4 of equal length (15 mm in this example). Like the embodiment of FIG. 23, the electrodes 500 of FIG. 24 could be energized simultaneously or sequentially.

FIG. 25 shows yet another embodiment, in which the segmented electrodes have different lengths. In the illustrated embodiment, there are four co-linear segmented electrodes, but the most distal electrodes 5001, 5002 are 10 mm in length, and the two proximate electrodes 5003, 5004 are 20 mm in length. Having short distal electrodes may provide the advantage of concentrating the therapeutic energy, as mentioned above.

FIG. 59 shows an embodiment having fifteen pairs of segmented RF electrodes 500 on a circuit board 570, or other type of suitable substrate, on the lower surface of the anvil 24 (i.e., the surface facing the channel 22). The various electrode pairs are energized by the RF source (or generator) 574. The multiplexer 576 may distribute the RF energy to the various electrode pairs as desired under the control of a controller 578. According to various embodiments, the RF source 574, the multiplexer 576, and the controller 578 may be located in the handle 6 of the instrument.

In such an embodiment, the circuit board 570 may comprise multiple layers that provide electrical connections between the multiplexer 576 and the various electrode pairs. For example, as shown in FIGS. 60 to 63, the circuit board may comprise three layers 5801-3, each layer 580 providing connections to five of the electrode pairs. For example, the upper most layer 5803 may provide connections to the most proximate five electrode pairs, as shown in FIGS. 60 and 61; the middle layer 5802 may provide connections to the middle five electrode pairs, as shown in FIGS. 60 and 62; and the lowest layer 5801 may provide connections to the most distal five electrode pairs, as shown in FIGS. 60 and 63.

FIG. 64 shows a cross-sectional end view of the anvil 24 according to such an embodiment. The circuit board 570, adjacent to the staple pockets 584, comprises three conducting layers 5801-3, having insulating layers 5821-4 therebetween. FIGS. 65 and 66 show how the various layers 5801-3 may be stacked to connect back to the multiplexer 576 in the handle.

An advantage of having so many RF electrodes in the end effector 12, as shown in FIG. 67, is that, in the case of a metal staple line 590 or other electrically conductive object left in the tissue 592 from a previous instrument firing or surgical procedure that may cause a short of the electrodes, such a short situation could be detected by the generator and multiplexer, and the energy could be modulated in a manner appropriate for the short circuit.

FIG. 27 shows another end effector 12 with RF electrodes. In this embodiment, the end effector 12 only comprises distal electrodes 5001, with the metallic anvil 24 serving as the return electrode. The distal electrodes 5001 do not span the entire length of the anvil 24, but only a fraction of the length. In the illustrated embodiment, distal electrodes 5001 are only approximately 20 mm in length along a 60 mm anvil, so that the distal electrodes 5001 only cover approximately the most distal ⅓ of the anvil length. In other embodiments, the distal electrodes 5001 could cover the most distal 1/10 to ½ of the anvil length. Such embodiments could be used for spot coagulation, as described in U.S. Pat. No. 5,599,350, which is incorporated herein by reference.

FIG. 28 shows yet another embodiment of the end effector 12 with RF electrodes. In this embodiment, an active electrode 500 is positioned at the distal tip of the anvil 24, insulated by the anvil 24 by an electrically non-conductive insulator 504, which may be made of ceramic material. Such an embodiment may be used for spot coagulation.

FIGS. 29 to 32 illustrate other embodiments of the end effector 12 that may be useful for spot coagulation. In these embodiments, the anvil 24 comprises a pair of electrodes 5001, 5002 at the distal end of the anvil 24 and along a lateral side of the anvil 24. FIG. 29 is front-end view of the anvil 24 according to such an embodiment, FIG. 30 is a side view, FIG. 31 is an enlarged fragmentary front-end view, and FIG. 32 is a top view. In such an embodiment, the metallic anvil 24 may act as the return electrode. The active electrodes 5001, 5002 may be insulated from the anvil 24 by electrically non-conductive insulators 504, which may comprise ceramic material.

FIGS. 33 to 36 show an embodiment where the anvil 24 comprises two distal electrodes 5001, 5002 located at the top, center of the anvil 24. Again, the metallic anvil 24 may act as the return electrode, and the active electrodes 5001, 5002 may be insulated from the anvil 24 by electrically non-conductive insulators 504.

FIGS. 37 to 40 show an embodiment where one active electrode 5001 (e.g., the active electrode) is positioned on the anvil 24, and another active electrode 5002 is positioned on the lower jaw 22, and preferably on the cartridge 34. The metallic anvil 24 may serve as the return electrode. The anvil electrode 5001 is insulated from the anvil 24 by an insulator 504. The electrode 5002, being positioned in the cartridge 34, which is preferably made from a non-conductive material such as plastic, is insulated from the metallic channel 22 by the cartridge 34.

FIGS. 41 to 44 show an embodiment where the anvil 24 has two active electrodes 5001, 5002 at the very most distal end of the anvil 24 that extend completely from the upper surface of the anvil 24 to the lower surface. Again, the metallic anvil 24 may act as the return electrode, and the active electrodes 5001, 5002 may be insulated from the anvil 24 by electrically non-conductive insulators 504.

FIGS. 45 to 48 show an embodiment where the cartridge 34 has two active electrodes 5001, 5002 at the very most distal end of the staple cartridge 34. In such an embodiment, the metallic anvil 24 or the metallic channel 22 may act as the return electrode. In this illustrated embodiment, the electrodes 5001, 5002 are connected to insulator inserts 503, but in other embodiments, the insulator inserts 503 could be omitted and the plastic cartridge 34 may serve as the insulator for the electrodes 5001, 5002.

FIGS. 49 to 52 show an embodiment having one active electrode 5001 at the very most distal end of the anvil 24 and another active electrode 5002 at the very most distal end of the cartridge 34. Again, in such an embodiment, the metallic anvil 24 or the metallic channel 22 may act as the return electrode. In this illustrated embodiment, the electrode 5002 is connected to insulator inserts 503, 505, but in other embodiments, the insulator inserts 503, 505 could be omitted and the plastic cartridge 34 may serve as the insulator for the electrode 5002.

FIG. 57 is a side view and FIG. 58 is a cross-sectional side of the handle 6 according to other embodiments of the present invention. The illustrated embodiment only includes one trigger, the closure trigger 18. Activation of the knife, staple drivers, and/or RF electrodes in this embodiment may be achieved through means other than a separate firing trigger. For example, as shown in FIG. 57, actuation of the knife, staple drivers, and/or RF electrodes may be activated by a push-button switch 540 or other type of switch that is in a position that is convenient for the operator. In FIG. 57, the switch 540 is shown at the most proximate portion of the handle 6. In another embodiment, the switch may be positioned near the distal end of the handle 6 so that pulling of the nozzle 539 activates the switch to cause actuation of the instrument. In such an embodiment, a switch (not shown) may be placed under or near the nozzle 539 so that movement of the nozzles toggles the switch.

Alternatively, actuation of the knife, staple drivers, and/or RF electrodes may be activated by voice or other sound commands detected by a microphone 542. In other embodiments, the handle 6 may comprise a RF or sonic transceiver 541, which may receive and/or transmit RF or sonic signals to activate the instrument. Also, as shown in FIG. 58, a foot pedal or switch 544 could be used to active the instrument 10. The foot pedal 544 may be connected to the handle 6 by a cord 545. Also, the handle 6 may comprise a dial control 546 or some other suitable control device for controlling actuation of the segmented RF electrodes (see, for example, FIGS. 23 and 24). Using such a control device 546, the operator may serially activate the various pairs of RF electrodes 500 in the end effector 12.

The instrument 10 shown in FIGS. 57 and 58 also includes many feedback systems for the user. As mentioned above, the instrument 10 may comprise the speaker 543 for audibilizing commands or instructions to the operator. In addition, the handle 6 may comprise visual indicators 548, such as LEDs or other light sources that provide visual feedback regarding actuation of the various segmented RF electrodes. For example, each of the visual indicators 548 could correspond to one of the segmented RF electrode pairs. The corresponding visual indicator 548 may be activated when the segmented RF electrode pair is activated. In addition, the handle 6 may comprise an alphanumeric display 550, which may be an LED or LCD display, for example. The display 550 may be connected to a circuit board 552 inside the handle 6. The handle 6 may also comprise a vibrator 554 in the pistol grip portion 26 that may provide vibrational feedback to the operator. For example, the vibrator 554 could vibrate each time that one of the segmented pairs of the RF electrodes in the end effector 12 is activated.

FIG. 26 is a cross-sectional view of the end effector 12 according to various embodiments where the electrodes are on the upper jaw (or anvil) 24. In the illustrated embodiment, the active electrodes 500 are positioned adjacent the knife slot 516. The metal anvil 24 may serve as the return electrode. Insulators 504, which may be made of ceramic, insulate the electrodes 500 from the metallic anvil 24. The embodiment of FIG. 68 is similar to that of FIG. 26, except that electrodes 500 are made smaller, such that a portion of the insulators 504 can extend between the respective electrodes 500 and the edges of the knife channel 516.

FIG. 53 is a cross-sectional end view of the end effector 12 according to another embodiment. In this embodiment, like the embodiment of FIG. 26, the active electrodes 5001, 5002 are on the anvil 24 on opposite sides of the knife channel. The electrodes 5001, 5002 are insulated from the metallic anvil by insulators 504, which again preferably comprise ceramic material. In this embodiment, however, the insulators 504 are made very thin (compare with FIG. 26). Making the insulators 504 very thin provides the potential advantage that the anvil 24 may include a relatively large metal section 520 above the electrodes 500, thereby potentially supporting a slimmer anvil profile for a given anvil stiffness, or a stiffer profile for a given anvil cross-sectional dimension. The insulators 504 may be cast in or sputter coated onto the anvil 24.

FIG. 54 illustrates another embodiment. In this embodiment, the active electrodes 5001, 5002 are sputter coated or bonded to the insulators 504, which may also be sputter coated or bonded to the anvil 24. Like the embodiment of FIG. 53, this design allows for more anvil material above the electrodes. In such an embodiment, the electrodes 5001, 5002 may comprise silver, which is a good conductor of electricity and has antimicrobial properties.

FIG. 55 shows a side view of the end effector according to another embodiment. In this embodiment, a thin film of electrically insulating material 530 is deposited on the face of the cartridge 34. The insulating film 530 preferably comprises a heat- and arc-resistant material, such as ceramic. This would tend to increase the resistance of the cartridge 34 to arc-tracking and shorting, permitting more firings between changes of the cartridge 34. In addition, if the cartridge 34 was a poor electrical conductor, it would support quicker heating of tissue and reduce the overall energy requirements. The active electrodes (not shown in FIG. 55) may be in the anvil 24, as described in embodiments above.

FIG. 56 shows an embodiment that is similar to that shown in FIG. 55, except that in FIG. 56, a thin layer 532 of slightly electrically conductive material is deposited on top of the insulating film 530. The conductivity of the thin, slightly conductive layer 532 may be lower than the conductive of the tissue clamped in the end effector 12 for treatment. As such, the thin, slightly conductive layer 532 would provide a reduced-conductivity path to provide additional heating of the clamped tissue. This would tend to reduce the time required to heat the tissue and achieve coagulation.

As described above, the instrument 10 may comprise an articulation pivot 14 for articulating the end effector 12. A clinician or operator of the instrument 10 may articulate the end effector 12 relative to the shaft 8 by utilizing the articulation control 16, as described in more detail in published U.S. Patent Application Publication No. 2007/0158385, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, now U.S. Pat. No. 7,670,334, which is incorporated herein by reference. In other embodiment, rather than a control device that is integrated with the instrument 10, the end effector 12 may be articulated by a separate instrument, such as gripper, that is inserted into the patient so that its operative portion is near the end effector 12 so that it can articulate the end effector 12 as desired. The separate instrument may be inserted through a different opening as the end effector 12, or through the same opening. Also, different operators can operate the separate instruments, or one person can operate both instruments, to articulate the end effector 12. In another passive articulation scenario, the end effector 12 may be articulated by carefully pushing it against other parts of the patient to achieve the desired articulation.

In another embodiment, the end effector 12 may be connected to the handle by a flexible cable. In such an embodiment, the end effector 12 could be positioned as desired and held in position by use of another instrument, e.g., a separate gripper instrument. In addition, in other embodiments, the end effector 12 could be positioned by a separate instrument and clamped by a second separate instrument. In addition, the end effector 12 could be made sufficiently small, such as 8 to 9 mm wide by 10 to 11 mm tall, so that a pull-to-close mechanism could be used to clamp the end effector from the handle 6. The pull-to-close mechanism could be adapted from that described in U.S. Pat. No. 5,562,701, entitled CABLE-ACTUATED JAW ASSEMBLY FOR SURGICAL INSTRUMENTS, which is incorporated herein by reference. The cable 600 could be disposed in or along a flexible endoscope for use, for example, in upper or lower gastro-intestinal tract procedures.

In yet another embodiment, as shown in FIGS. 69 and 70, the instrument 10 may comprise a flexible neck assembly 732 enabling articulation of the end effector 12. When an articulation transmission assembly 731 coupled to the shaft 8 is rotated, it may cause remote articulation of the flexible neck assembly 732. The flexible neck assembly 732 may comprise first and second flexible neck portions 733, 734, which receive first and second flexible band assemblies 735, 736. Upon rotation of the articulation transmission assembly 731, one of the first and second flexible transmission band assemblies 735, 736 is moved forwardly and the other band assembly is moved rearwardly. In response to the reciprocating movement of the band assemblies within the first and second flexible neck portions 733, 734 of the flexible neck assembly 732, the flexible neck assembly 732 bends to provide articulation. A further description of the flexible neck is described in U.S. Pat. No. 5,704,534, which is incorporated herein by reference.

The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

Preferably, the various embodiments of the invention described herein will be processed before surgery. First, a new or used instrument is obtained and if necessary cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a thermoformed plastic shell covered with a sheet of TYVEK. The container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation kills bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container keeps the instrument sterile until it is opened in the medical facility.

It is preferred that the device is sterilized. This can be done by any number of ways known to those skilled in the art including beta or gamma radiation, ethylene oxide, steam and other methods.

While the present invention has been illustrated by description of several embodiments and while the illustrative embodiments have been described in considerable detail, it is not the intention of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications may readily appear to those skilled in the art. The various embodiments of the present invention represent vast improvements over prior staple methods that require the use of different sizes of staples in a single cartridge to achieve staples that have differing formed (final) heights.

Accordingly, the present invention has been discussed in terms of endoscopic procedures and apparatus. However, use herein of terms such as “endoscopic” should not be construed to limit the present invention to a surgical stapling and severing instrument for use only in conjunction with an endoscopic tube (i.e., trocar). On the contrary, it is believed that the present invention may find use in any procedure where access is limited, including but not limited to laparoscopic procedures, as well as open procedures. Moreover, the unique and novel aspects of the various staple cartridge embodiments of the present invention may find utility when used in connection with other forms of stapling apparatuses without departing from the spirit and scope of the present invention.

Over the years a variety of minimally invasive robotic (or “telesurgical”) systems have been developed to increase surgical dexterity as well as to permit a surgeon to operate on a patient in an intuitive manner. Many of such systems are disclosed in the following U.S. Patents which are each herein incorporated by reference in their respective entirety: U.S. Pat. No. 5,792,135, entitled ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY, U.S. Pat. No. 6,231,565, entitled ROBOTIC ARM DLUS FOR PERFORMING SURGICAL TASKS, U.S. Pat. No. 6,783,524, entitled ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, U.S. Pat. No. 6,364,888, entitled ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS, U.S. Pat. No. 7,524,320, entitled MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, U.S. Pat. No. 7,691,098, entitled PLATFORM LINK WRIST MECHANISM, U.S. Pat. No. 7,806,891, entitled REPOSITIONING AND REORIENTATION OF MASTER/SLAVE RELATIONSHIP IN MINIMALLY INVASIVE TELESURGERY, and U.S. Pat. No. 7,824,401, entitled ROBOTIC TOOL WITH WRISTED MONOPOLAR ELECTROSURGICAL END EFFECTORS. Many of such systems, however, have in the past been unable to generate the magnitude of forces required to effectively cut and fasten tissue.

FIG. 71 depicts one version of a master controller 1001 that may be used in connection with a robotic arm slave cart 1100 of the type depicted in FIG. 72. Master controller 1001 and robotic arm slave cart 1100, as well as their respective components and control systems are collectively referred to herein as a robotic system 1000. Examples of such systems and devices are disclosed in U.S. Pat. No. 7,524,320 which has been herein incorporated by reference. Thus, various details of such devices will not be described in detail herein beyond that which may be necessary to understand various embodiments and forms of the present invention. As is known, the master controller 1001 generally includes master controllers (generally represented as 1003 in FIG. 71) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display 1002. The master controllers 1001 generally comprise manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating tools (for example, for closing grasping saws, applying an electrical potential to an electrode, or the like).

As can be seen in FIG. 72, in one form, the robotic arm cart 1100 is configured to actuate a plurality of surgical tools, generally designated as 1200. Various robotic surgery systems and methods employing master controller and robotic arm cart arrangements are disclosed in U.S. Pat. No. 6,132,368, entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, the full disclosure of which is incorporated herein by reference. In various forms, the robotic arm cart 1100 includes a base 1002 from which, in the illustrated embodiment, three surgical tools 1200 are supported. In various forms, the surgical tools 1200 are each supported by a series of manually articulatable linkages, generally referred to as set-up joints 1104, and a robotic manipulator 1106. These structures are herein illustrated with protective covers extending over much of the robotic linkage. These protective covers may be optional, and may be limited in size or entirely eliminated in some embodiments to minimize the inertia that is encountered by the servo mechanisms used to manipulate such devices, to limit the volume of moving components so as to avoid collisions, and to limit the overall weight of the cart 1100. Cart 1100 will generally have dimensions suitable for transporting the cart 1100 between operating rooms. The cart 1100 may be configured to typically fit through standard operating room doors and onto standard hospital elevators. In various forms, the cart 1100 would preferably have a weight and include a wheel (or other transportation) system that allows the cart 1100 to be positioned adjacent an operating table by a single attendant.

Referring now to FIG. 73, in at least one form, robotic manipulators 1106 may include a linkage 1108 that constrains movement of the surgical tool 1200. In various embodiments, linkage 1108 includes rigid links coupled together by rotational joints in a parallelogram arrangement so that the surgical tool 1200 rotates around a point in space 1110, as more fully described in issued U.S. Pat. No. 5,817,084, the full disclosure of which is herein incorporated by reference. The parallelogram arrangement constrains rotation to pivoting about an axis 1112a, sometimes called the pitch axis. The links supporting the parallelogram linkage are pivotally mounted to set-up joints 1104 (FIG. 72) so that the surgical tool 1200 further rotates about an axis 1112b, sometimes called the yaw axis. The pitch and yaw axes 1112a, 1112b intersect at the remote center 1114, which is aligned along a shaft 1208 of the surgical tool 1200. The surgical tool 1200 may have further degrees of driven freedom as supported by manipulator 1106, including sliding motion of the surgical tool 1200 along the longitudinal tool axis “LT-LT”. As the surgical tool 1200 slides along the tool axis LT-LT relative to manipulator 1106 (arrow 1112c), remote center 1114 remains fixed relative to base 1116 of manipulator 1106. Hence, the entire manipulator is generally moved to re-position remote center 1114. Linkage 1108 of manipulator 1106 is driven by a series of motors 1120. These motors actively move linkage 1108 in response to commands from a processor of a control system. As will be discussed in further detail below, motors 1120 are also employed to manipulate the surgical tool 1200.

An alternative set-up joint structure is illustrated in FIG. 74. In this embodiment, a surgical tool 1200 is supported by an alternative manipulator structure 1106′ between two tissue manipulation tools. Those of ordinary skill in the art will appreciate that various embodiments of the present invention may incorporate a wide variety of alternative robotic structures, including those described in U.S. Pat. No. 5,878,193, entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING, the full disclosure of which is incorporated herein by reference. Additionally, while the data communication between a robotic component and the processor of the robotic surgical system is primarily described herein with reference to communication between the surgical tool 1200 and the master controller 1001, it should be understood that similar communication may take place between circuitry of a manipulator, a set-up joint, an endoscope or other image capture device, or the like, and the processor of the robotic surgical system for component compatibility verification, component-type identification, component calibration (such as off-set or the like) communication, confirmation of coupling of the component to the robotic surgical system, or the like.

An exemplary non-limiting surgical tool 1200 that is well-adapted for use with a robotic system 1000 that has a tool drive assembly 1010 (FIG. 76) that is operatively coupled to a master controller 1001 that is operable by inputs from an operator (i.e., a surgeon) is depicted in FIG. 75. As can be seen in that Figure, the surgical tool 1200 includes a surgical end effector 2012 that comprises an endocutter. In at least one form, the surgical tool 1200 generally includes an elongated shaft assembly 2008 that has a proximal closure tube 2040 and a distal closure tube 2042 that are coupled together by an articulation joint 2011. The surgical tool 1200 is operably coupled to the manipulator by a tool mounting portion, generally designated as 1300. The surgical tool 1200 further includes an interface 1230 which mechanically and electrically couples the tool mounting portion 1300 to the manipulator. One form of interface 1230 is illustrated in FIGS. 76-80. In various embodiments, the tool mounting portion 1300 includes a tool mounting plate 1302 that operably supports a plurality of (four are shown in FIG. 80) rotatable body portions, driven discs or elements 1304, that each include a pair of pins 1306 that extend from a surface of the driven element 1304. One pin 1306 is closer to an axis of rotation of each driven elements 1304 than the other pin 1306 on the same driven element 1304, which helps to ensure positive angular alignment of the driven element 1304. Interface 1230 includes an adaptor portion 1240 that is configured to mountingly engage the mounting plate 1302 as will be further discussed below. The adaptor portion 1240 may include an array of electrical connecting pins 1242 (FIG. 78) which may be coupled to a memory structure by a circuit board within the tool mounting portion 1300. While interface 1230 is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.

As can be seen in FIGS. 76-79, the adapter portion 1240 generally includes a tool side 1244 and a holder side 1246. In various forms, a plurality of rotatable bodies 1250 are mounted to a floating plate 1248 which has a limited range of movement relative to the surrounding adaptor structure normal to the major surfaces of the adaptor 1240. Axial movement of the floating plate 1248 helps decouple the rotatable bodies 1250 from the tool mounting portion 1300 when the levers 1303 along the sides of the tool mounting portion housing 1301 are actuated (See FIG. 76). Other mechanisms/arrangements may be employed for releasably coupling the tool mounting portion 1300 to the adaptor 1240. In at least one form, rotatable bodies 1250 are resiliently mounted to floating plate 1248 by resilient radial members which extend into a circumferential indentation about the rotatable bodies 1250. The rotatable bodies 1250 can move axially relative to plate 1248 by deflection of these resilient structures. When disposed in a first axial position (toward tool side 1244) the rotatable bodies 1250 are free to rotate without angular limitation. However, as the rotatable bodies 1250 move axially toward tool side 1244, tabs 1252 (extending radially from the rotatable bodies 1250) laterally engage detents on the floating plates so as to limit angular rotation of the rotatable bodies 1250 about their axes. This limited rotation can be used to help drivingly engage the rotatable bodies 1250 with drive pins 1272 of a corresponding tool holder portion 1270 of the robotic system 1000, as the drive pins 1272 will push the rotatable bodies 1250 into the limited rotation position until the pins 1234 are aligned with (and slide into) openings 1256′. Openings 1256 on the tool side 1244 and openings 1256′ on the holder side 1246 of rotatable bodies 1250 are configured to accurately align the driven elements 1304 (FIG. 80) of the tool mounting portion 1300 with the drive elements 1271 of the tool holder 1270. As described above regarding inner and outer pins 1306 of driven elements 1304, the openings 1256, 1256′ are at differing distances from the axis of rotation on their respective rotatable bodies 1250 so as to ensure that the alignment is not 180 degrees from its intended position. Additionally, each of the openings 1256 is slightly radially elongated so as to fittingly receive the pins 1306 in the circumferential orientation. This allows the pins 1306 to slide radially within the openings 1256, 1256′ and accommodate some axial misalignment between the tool 1200 and tool holder 1270, while minimizing any angular misalignment and backlash between the drive and driven elements. Openings 1256 on the tool side 1244 are offset by about 90 degrees from the openings 1256′ (shown in broken lines) on the holder side 1246, as can be seen most clearly in FIG. 79.

Various embodiments may further include an array of electrical connector pins 1242 located on holder side 1246 of adaptor 1240, and the tool side 1244 of the adaptor 1240 may include slots 1258 (FIG. 79) for receiving a pin array (not shown) from the tool mounting portion 1300. In addition to transmitting electrical signals between the surgical tool 1200 and the tool holder 1270, at least some of these electrical connections may be coupled to an adaptor memory device 1260 (FIG. 78) by a circuit board of the adaptor 1240.

A detachable latch arrangement 1239 may be employed to releasably affix the adaptor 1240 to the tool holder 1270. As used herein, the term “tool drive assembly” when used in the context of the robotic system 1000, at least encompasses various embodiments of the adapter 1240 and tool holder 1270 and which has been generally designated as 1010 in FIG. 27. For example, as can be seen in FIG. 76, the tool holder 1270 may include a first latch pin arrangement 1274 that is sized to be received in corresponding clevis slots 1241 provided in the adaptor 1240. In addition, the tool holder 1270 may further have second latch pins 1276 that are sized to be retained in corresponding latch devises 1243 in the adaptor 1240. See FIG. 78. In at least one form, a latch assembly 1245 is movably supported on the adapter 1240 and is biasable between a first latched position wherein the latch pins 1276 are retained within their respective latch clevis 1243 and an unlatched position wherein the second latch pins 1276 may be into or removed from the latch devises 1243. A spring or springs (not shown) are employed to bias the latch assembly into the latched position. A lip on the tool side 1244 of adaptor 1240 may slidably receive laterally extending tabs of tool mounting housing 1301.

Turning next to FIGS. 80-87, in at least one embodiment, the surgical tool 1200 includes a surgical end effector 2012 that comprises in this example, among other things, at least one component 2024 that is selectively movable between first and second positions relative to at least one other component 2022 in response to various control motions applied thereto as will be discussed in further detail below. In various embodiments, component 2022 comprises an elongated channel 2022 configured to operably support a surgical staple cartridge 2034 therein and component 2024 comprises a pivotally translatable clamping member, such as an anvil 2024. Various embodiments of the surgical end effector 2012 are configured to maintain the anvil 2024 and elongated channel 2022 at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 2012. As can be seen in FIG. 86, the surgical end effector 2012 further includes a cutting instrument 2032 and a sled 2033. The cutting instrument 2032 may be, for example, a knife. The surgical staple cartridge 2034 operably houses a plurality of surgical staples (not show) therein that are supported on movable staple drivers (not shown). As the cutting instrument 2032 is driven distally through a centrally-disposed slot (not shown) in the surgical staple cartridge 2034, it forces the sled 2033 distally as well. As the sled 2033 is driven distally, its “wedge-shaped” configuration contacts the movable staple drivers and drives them vertically toward the closed anvil 2024. The surgical staples are formed as they are driven into the forming surface located on the underside of the anvil 2024. The sled 2033 may be part of the surgical staple cartridge 2034, such that when the cutting instrument 2032 is retracted following the cutting operation, the sled 2033 does not retract. The anvil 2024 may be pivotably opened and closed at a pivot point 2025 located at the proximal end of the elongated channel 2022. The anvil 2024 may also include a tab 2027 at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil 2024. The elongated channel 2022 and the anvil 2024 may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge 2034 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 2034, as was also described above.

As can be seen in FIGS. 80-87, the surgical end effector 2012 is attached to the tool mounting portion 1300 by an elongated shaft assembly 2008 according to various embodiments. As shown in the illustrated embodiment, the shaft assembly 2008 includes an articulation joint generally indicated as 2011 that enables the surgical end effector 2012 to be selectively articulated about an articulation axis AA-AA that is substantially transverse to a longitudinal tool axis LT-LT. See FIG. 81. In other embodiments, the articulation joint is omitted. In various embodiments, the shaft assembly 2008 may include a closure tube assembly 2009 that comprises a proximal closure tube 2040 and a distal closure tube 2042 that are pivotably linked by a pivot links 2044 and operably supported on a spine assembly generally depicted as 2049. In the illustrated embodiment, the spine assembly 2049 comprises a distal spine portion 2050 that is attached to the elongated channel 2022 and is pivotally coupled to the proximal spine portion 2052. The closure tube assembly 2009 is configured to axially slide on the spine assembly 2049 in response to actuation motions applied thereto. The distal closure tube 2042 includes an opening 2045 into which the tab 2027 on the anvil 2024 is inserted in order to facilitate opening of the anvil 2024 as the distal closure tube 2042 is moved axially in the proximal direction “PD”. The closure tubes 2040, 2042 may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above. Components of the main drive shaft assembly (e.g., the drive shafts 2048, 2050) may be made of a nonconductive material (such as plastic).

In use, it may be desirable to rotate the surgical end effector 2012 about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion 1300 includes a rotational transmission assembly 2069 that is configured to receive a corresponding rotary output motion from the tool drive assembly 1010 of the robotic system 1000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly 2008 (and surgical end effector 2012) about the longitudinal tool axis LT-LT. In various embodiments, for example, the proximal end 2060 of the proximal closure tube 2040 is rotatably supported on the tool mounting plate 1302 of the tool mounting portion 1300 by a forward support cradle 1309 and a closure sled 2100 that is also movably supported on the tool mounting plate 1302. In at least one form, the rotational transmission assembly 2069 includes a tube gear segment 2062 that is formed on (or attached to) the proximal end 2060 of the proximal closure tube 2040 for operable engagement by a rotational gear assembly 2070 that is operably supported on the tool mounting plate 1302. As can be seen in FIG. 83, the rotational gear assembly 2070, in at least one embodiment, comprises a rotation drive gear 2072 that is coupled to a corresponding first one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 1302 when the tool mounting portion 1300 is coupled to the tool drive assembly 1010. See FIG. 80. The rotational gear assembly 2070 further comprises a rotary driven gear 2074 that is rotatably supported on the tool mounting plate 1302 in meshing engagement with the tube gear segment 2062 and the rotation drive gear 2072. Application of a first rotary output motion from the tool drive assembly 1010 of the robotic system 1000 to the corresponding driven element 1304 will thereby cause rotation of the rotation drive gear 2072. Rotation of the rotation drive gear 2072 ultimately results in the rotation of the elongated shaft assembly 2008 (and the surgical end effector 2012) about the longitudinal tool axis LT-LT (represented by arrow “R” in FIG. 83). It will be appreciated that the application of a rotary output motion from the tool drive assembly 1010 in one direction will result in the rotation of the elongated shaft assembly 2008 and surgical end effector 2012 about the longitudinal tool axis LT-LT in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongated shaft assembly 2008 and surgical end effector 2012 in a second direction that is opposite to the first direction.

In at least one embodiment, the closure of the anvil 2024 relative to the staple cartridge 2034 is accomplished by axially moving the closure tube assembly 2009 in the distal direction “DD” on the spine assembly 2049. As indicated above, in various embodiments, the proximal end 2060 of the proximal closure tube 2040 is supported by the closure sled 2100 which comprises a portion of a closure transmission, generally depicted as 2099. In at least one form, the closure sled 2100 is configured to support the closure tube 2009 on the tool mounting plate 1320 such that the proximal closure tube 2040 can rotate relative to the closure sled 2100, yet travel axially with the closure sled 2100. In particular, as can be seen in FIG. 88, the closure sled 2100 has an upstanding tab 2101 that extends into a radial groove 2063 in the proximal end portion of the proximal closure tube 2040. In addition, as can be seen in FIGS. 84 and 88, the closure sled 2100 has a tab portion 2102 that extends through a slot 1305 in the tool mounting plate 1302. The tab portion 2102 is configured to retain the closure sled 2100 in sliding engagement with the tool mounting plate 1302. In various embodiments, the closure sled 2100 has an upstanding portion 2104 that has a closure rack gear 2106 formed thereon. The closure rack gear 2106 is configured for driving engagement with a closure gear assembly 2110. See FIG. 84.

In various forms, the closure gear assembly 2110 includes a closure spur gear 2112 that is coupled to a corresponding second one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 1302. See FIG. 80. Thus, application of a second rotary output motion from the tool drive assembly 1010 of the robotic system 1000 to the corresponding second driven element 1304 will cause rotation of the closure spur gear 2112 when the tool mounting portion 1300 is coupled to the tool drive assembly 1010. The closure gear assembly 2110 further includes a closure reduction gear set 2114 that is supported in meshing engagement with the closure spur gear 2112. As can be seen in FIGS. 84 and 85, the closure reduction gear set 2114 includes a driven gear 2116 that is rotatably supported in meshing engagement with the closure spur gear 2112. The closure reduction gear set 2114 further includes a first closure drive gear 2118 that is in meshing engagement with a second closure drive gear 2120 that is rotatably supported on the tool mounting plate 1302 in meshing engagement with the closure rack gear 2106. Thus, application of a second rotary output motion from the tool drive assembly 1010 of the robotic system 1000 to the corresponding second driven element 1304 will cause rotation of the closure spur gear 2112 and the closure transmission 2110 and ultimately drive the closure sled 2100 and closure tube assembly 2009 axially. The axial direction in which the closure tube assembly 2009 moves ultimately depends upon the direction in which the second driven element 1304 is rotated. For example, in response to one rotary output motion received from the tool drive assembly 1010 of the robotic system 1000, the closure sled 2100 will be driven in the distal direction “DD” and ultimately drive the closure tube assembly 1009 in the distal direction. As the distal closure tube 2042 is driven distally, the end of the closure tube segment 2042 will engage a portion of the anvil 2024 and cause the anvil 2024 to pivot to a closed position. Upon application of an “opening” out put motion from the tool drive assembly 1010 of the robotic system 1000, the closure sled 2100 and shaft assembly 2008 will be driven in the proximal direction “PD”. As the distal closure tube 2042 is driven in the proximal direction, the opening 2045 therein interacts with the tab 2027 on the anvil 2024 to facilitate the opening thereof. In various embodiments, a spring (not shown) may be employed to bias the anvil to the open position when the distal closure tube 2042 has been moved to its starting position. In various embodiments, the various gears of the closure gear assembly 2110 are sized to generate the necessary closure forces needed to satisfactorily close the anvil 2024 onto the tissue to be cut and stapled by the surgical end effector 2012. For example, the gears of the closure transmission 2110 may be sized to generate approximately 70-120 pounds.

In various embodiments, the cutting instrument 2032 is driven through the surgical end effector 2012 by a knife bar 2200. See FIGS. 86 and 88. In at least one form, the knife bar 2200 may be fabricated from, for example, stainless steel or other similar material and has a substantially rectangular cross-sectional shape. Such knife bar configuration is sufficiently rigid to push the cutting instrument 2032 through tissue clamped in the surgical end effector 2012, while still being flexible enough to enable the surgical end effector 2012 to articulate relative to the proximal closure tube 2040 and the proximal spine portion 2052 about the articulation axis AA-AA as will be discussed in further detail below. As can be seen in FIGS. 89 and 90, the proximal spine portion 2052 has a rectangular-shaped passage 2054 extending therethrough to provide support to the knife bar 2200 as it is axially pushed therethrough. The proximal spine portion 2052 has a proximal end 2056 that is rotatably mounted to a spine mounting bracket 2057 attached to the tool mounting plate 1032. See FIG. 88. Such arrangement permits the proximal spine portion 2052 to rotate, but not move axially, within the proximal closure tube 2040.

As shown in FIG. 86, the distal end 2202 of the knife bar 2200 is attached to the cutting instrument 2032. The proximal end 2204 of the knife bar 2200 is rotatably affixed to a knife rack gear 2206 such that the knife bar 2200 is free to rotate relative to the knife rack gear 2206. See FIG. 88. As can be seen in FIGS. 82-87, the knife rack gear 2206 is slidably supported within a rack housing 2210 that is attached to the tool mounting plate 1302 such that the knife rack gear 2206 is retained in meshing engagement with a knife gear assembly 2220. More specifically and with reference to FIG. 85, in at least one embodiment, the knife gear assembly 2220 includes a knife spur gear 2222 that is coupled to a corresponding third one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 1302. See FIG. 80. Thus, application of another rotary output motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding third driven element 1304 will cause rotation of the knife spur gear 2222. The knife gear assembly 2220 further includes a knife gear reduction set 2224 that includes a first knife driven gear 2226 and a second knife drive gear 2228. The knife gear reduction set 2224 is rotatably mounted to the tool mounting plate 1302 such that the first knife driven gear 2226 is in meshing engagement with the knife spur gear 2222. Likewise, the second knife drive gear 2228 is in meshing engagement with a third knife drive gear 2230 that is rotatably supported on the tool mounting plate 1302 in meshing engagement with the knife rack gear 2206. In various embodiments, the gears of the knife gear assembly 2220 are sized to generate the forces needed to drive the cutting element 2032 through the tissue clamped in the surgical end effector 2012 and actuate the staples therein. For example, the gears of the knife drive assembly 2230 may be sized to generate approximately 40 to 100 pounds. It will be appreciated that the application of a rotary output motion from the tool drive assembly 1010 in one direction will result in the axial movement of the cutting instrument 2032 in a distal direction and application of the rotary output motion in an opposite direction will result in the axial travel of the cutting instrument 2032 in a proximal direction.

In various embodiments, the surgical tool 1200 employs and articulation system 2007 that includes an articulation joint 2011 that enables the surgical end effector 2012 to be articulated about an articulation axis AA-AA that is substantially transverse to the longitudinal tool axis LT-LT. In at least one embodiment, the surgical tool 1200 includes first and second articulation bars 2250a, 2250b that are slidably supported within corresponding passages 2053 provided through the proximal spine portion 2052. See FIGS. 88 and 90. In at least one form, the first and second articulation bars 2250a, 2250b are actuated by an articulation transmission generally designated as 2249 that is operably supported on the tool mounting plate 1032. Each of the articulation bars 2250a, 2250b has a proximal end 2252 that has a guide rod protruding therefrom which extend laterally through a corresponding slot in the proximal end portion of the proximal spine portion 2052 and into a corresponding arcuate slot in an articulation nut 2260 which comprises a portion of the articulation transmission. FIG. 89 illustrates articulation bar 2250a. It will be understood that articulation bar 2250b is similarly constructed. As can be seen in FIG. 89, for example, the articulation bar 2250a has a guide rod 2254 which extends laterally through a corresponding slot 2058 in the proximal end portion 2056 of the distal spine portion 2050 and into a corresponding arcuate slot 2262 in the articulation nut 2260. In addition, the articulation bar 2250a has a distal end 2251a that is pivotally coupled to the distal spine portion 2050 by, for example, a pin 2253a and articulation bar 2250b has a distal end 2251b that is pivotally coupled to the distal spine portion 2050 by, for example, a pin 2253b. In particular, the articulation bar 2250a is laterally offset in a first lateral direction from the longitudinal tool axis LT-LT and the articulation bar 2250b is laterally offset in a second lateral direction from the longitudinal tool axis LT-LT. Thus, axial movement of the articulation bars 2250a and 2250b in opposing directions will result in the articulation of the distal spine portion 2050 as well as the surgical end effector 2012 attached thereto about the articulation axis AA-AA as will be discussed in further detail below.

Articulation of the surgical end effector 2012 is controlled by rotating the articulation nut 2260 about the longitudinal tool axis LT-LT. The articulation nut 2260 is rotatably journaled on the proximal end portion 2056 of the distal spine portion 2050 and is rotatably driven thereon by an articulation gear assembly 2270. More specifically and with reference to FIG. 83, in at least one embodiment, the articulation gear assembly 2270 includes an articulation spur gear 2272 that is coupled to a corresponding fourth one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 1302. See FIG. 80. Thus, application of another rotary input motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding fourth driven element 1304 will cause rotation of the articulation spur gear 2272 when the interface 1230 is coupled to the tool holder 1270. An articulation drive gear 2274 is rotatably supported on the tool mounting plate 1302 in meshing engagement with the articulation spur gear 2272 and a gear portion 2264 of the articulation nut 2260 as shown. As can be seen in FIGS. 39 and 40, the articulation nut 2260 has a shoulder 2266 formed thereon that defines an annular groove 2267 for receiving retaining posts 2268 therein. Retaining posts 2268 are attached to the tool mounting plate 1302 and serve to prevent the articulation nut 2260 from moving axially on the proximal spine portion 2052 while maintaining the ability to be rotated relative thereto. Thus, rotation of the articulation nut 2260 in a first direction, will result in the axial movement of the articulation bar 2250a in a distal direction “DD” and the axial movement of the articulation bar 2250b in a proximal direction “PD” because of the interaction of the guide rods 2254 with the spiral slots 2262 in the articulation gear 2260. Similarly, rotation of the articulation nut 2260 in a second direction that is opposite to the first direction will result in the axial movement of the articulation bar 2250a in the proximal direction “PD” as well as cause articulation bar 2250b to axially move in the distal direction “DD”. Thus, the surgical end effector 2012 may be selectively articulated about articulation axis “AA-AA” in a first direction “FD” by simultaneously moving the articulation bar 2250a in the distal direction “DD” and the articulation bar 2250b in the proximal direction “PD”. Likewise, the surgical end effector 2012 may be selectively articulated about the articulation axis “AA-AA” in a second direction “SD” by simultaneously moving the articulation bar 2250a in the proximal direction “PD” and the articulation bar 2250b in the distal direction “DD.” See FIG. 81.

The tool embodiment described above employs an interface arrangement that is particularly well-suited for mounting the robotically controllable medical tool onto at least one form of robotic arm arrangement that generates at least four different rotary control motions. Those of ordinary skill in the art will appreciate that such rotary output motions may be selectively controlled through the programmable control systems employed by the robotic system/controller. For example, the tool arrangement described above may be well-suited for use with those robotic systems manufactured by Intuitive Surgical, Inc. of Sunnyvale, Calif., U.S.A., many of which may be described in detail in various patents incorporated herein by reference. The unique and novel aspects of various embodiments of the present invention serve to utilize the rotary output motions supplied by the robotic system to generate specific control motions having sufficient magnitudes that enable end effectors to cut and staple tissue. Thus, the unique arrangements and principles of various embodiments of the present invention may enable a variety of different forms of the tool systems disclosed and claimed herein to be effectively employed in connection with other types and forms of robotic systems that supply programmed rotary or other output motions. In addition, as will become further apparent as the present Detailed Description proceeds, various end effector embodiments of the present invention that require other forms of actuation motions may also be effectively actuated utilizing one or more of the control motions generated by the robotic system.

FIGS. 92-96 illustrate yet another surgical tool 2300 that may be effectively employed in connection with the robotic system 1000 that has a tool drive assembly that is operably coupled to a controller of the robotic system that is operable by inputs from an operator and which is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly. In various forms, the surgical tool 2300 includes a surgical end effector 2312 that includes an elongated channel 2322 and a pivotally translatable clamping member, such as an anvil 2324, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 2312. As shown in the illustrated embodiment, the surgical end effector 2312 may include, in addition to the previously-mentioned elongated channel 2322 and anvil 2324, a cutting instrument 2332 that has a sled portion 2333 formed thereon, a surgical staple cartridge 2334 that is seated in the elongated channel 2322, and a rotary end effector drive shaft 2336 that has a helical screw thread formed thereon. The cutting instrument 2332 may be, for example, a knife. As will be discussed in further detail below, rotation of the end effector drive shaft 2336 will cause the cutting instrument 2332 and sled portion 2333 to axially travel through the surgical staple cartridge 2334 to move between a starting position and an ending position. The direction of axial travel of the cutting instrument 2332 depends upon the direction in which the end effector drive shaft 2336 is rotated. The anvil 2324 may be pivotably opened and closed at a pivot point 2325 connected to the proximate end of the elongated channel 2322. The anvil 2324 may also include a tab 2327 at its proximate end that operably interfaces with a component of the mechanical closure system (described further below) to open and close the anvil 2324. When the end effector drive shaft 2336 is rotated, the cutting instrument 2332 and sled 2333 will travel longitudinally through the surgical staple cartridge 2334 from the starting position to the ending position, thereby cutting tissue clamped within the surgical end effector 2312. The movement of the sled 2333 through the surgical staple cartridge 2334 causes the staples therein to be driven through the severed tissue and against the closed anvil 2324, which turns the staples to fasten the severed tissue. In one form, the elongated channel 2322 and the anvil 2324 may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge 2334 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 2334, as described above.

It should be noted that although the embodiments of the surgical tool 2300 described herein employ a surgical end effector 2312 that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, disclose cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783 and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used.

In the illustrated embodiment, the surgical end effector 2312 is coupled to an elongated shaft assembly 2308 that is coupled to a tool mounting portion 2460 and defines a longitudinal tool axis LT-LT. In this embodiment, the elongated shaft assembly 2308 does not include an articulation joint. Those of ordinary skill in the art will understand that other embodiments may have an articulation joint therein. In at least one embodiment, the elongated shaft assembly 2308 comprises a hollow outer tube 2340 that is rotatably supported on a tool mounting plate 2462 of a tool mounting portion 2460 as will be discussed in further detail below. In various embodiments, the elongated shaft assembly 2308 further includes a distal spine shaft 2350. Distal spine shaft 2350 has a distal end portion 2354 that is coupled to, or otherwise integrally formed with, a distal stationary base portion 2360 that is non-movably coupled to the channel 2322. See FIGS. 93-95.

As shown in FIG. 93, the distal spine shaft 2350 has a proximal end portion 2351 that is slidably received within a slot 2355 in a proximal spine shaft 2353 that is non-movably supported within the hollow outer tube 2340 by at least one support collar 2357. As can be further seen in FIGS. 93 and 94, the surgical tool 2300 includes a closure tube 2370 that is constrained to only move axially relative to the distal stationary base portion 2360. The closure tube 2370 has a proximal end 2372 that has an internal thread 2374 formed therein that is in threaded engagement with a transmission arrangement, generally depicted as 2375 that is operably supported on the tool mounting plate 2462. In various forms, the transmission arrangement 2375 includes a rotary drive shaft assembly, generally designated as 2381. When rotated, the rotary drive shaft assembly 2381 will cause the closure tube 2370 to move axially as will be describe in further detail below. In at least one form, the rotary drive shaft assembly 2381 includes a closure drive nut 2382 of a closure clutch assembly generally designated as 2380. More specifically, the closure drive nut 2382 has a proximal end portion 2384 that is rotatably supported relative to the outer tube 2340 and is in threaded engagement with the closure tube 2370. For assembly purposes, the proximal end portion 2384 may be threadably attached to a retention ring 2386. Retention ring 2386, in cooperation with an end 2387 of the closure drive nut 2382, defines an annular slot 2388 into which a shoulder 2392 of a locking collar 2390 extends. The locking collar 2390 is non-movably attached (e.g., welded, glued, etc.) to the end of the outer tube 2340. Such arrangement serves to affix the closure drive nut 2382 to the outer tube 2340 while enabling the closure drive nut 2382 to rotate relative to the outer tube 2340. The closure drive nut 2382 further has a distal end 2383 that has a threaded portion 2385 that threadably engages the internal thread 2374 of the closure tube 2370. Thus, rotation of the closure drive nut 2382 will cause the closure tube 2370 to move axially as represented by arrow “D” in FIG. 94.

Closure of the anvil 2324 and actuation of the cutting instrument 2332 are accomplished by control motions that are transmitted by a hollow drive sleeve 2400. As can be seen in FIGS. 93 and 94, the hollow drive sleeve 2400 is rotatably and slidably received on the distal spine shaft 2350. The drive sleeve 2400 has a proximal end portion 2401 that is rotatably mounted to the proximal spine shaft 2353 that protrudes from the tool mounting portion 2460 such that the drive sleeve 2400 may rotate relative thereto. See FIG. 93. As can also be seen in FIGS. 93-95, the drive sleeve 2400 is rotated about the longitudinal tool axis “LT-LT” by a drive shaft 2440. The drive shaft 2440 has a drive gear 2444 that is attached to its distal end 2442 and is in meshing engagement with a driven gear 2450 that is attached to the drive sleeve 2400.

The drive sleeve 2400 further has a distal end portion 2402 that is coupled to a closure clutch 2410 portion of the closure clutch assembly 2380 that has a proximal face 2412 and a distal face 2414. The proximal face 2412 has a series of proximal teeth 2416 formed thereon that are adapted for selective engagement with corresponding proximal teeth cavities 2418 formed in the proximal end portion 2384 of the closure drive nut 2382. Thus, when the proximal teeth 2416 are in meshing engagement with the proximal teeth cavities 2418 in the closure drive nut 2382, rotation of the drive sleeve 2400 will result in rotation of the closure drive nut 2382 and ultimately cause the closure tube 2370 to move axially as will be discussed in further detail below.

As can be most particularly seen in FIGS. 93 and 94, the distal face 2414 of the drive clutch portion 2410 has a series of distal teeth 2415 formed thereon that are adapted for selective engagement with corresponding distal teeth cavities 2426 formed in a face plate portion 2424 of a knife drive shaft assembly 2420. In various embodiments, the knife drive shaft assembly 2420 comprises a hollow knife shaft segment 2430 that is rotatably received on a corresponding portion of the distal spine shaft 2350 that is attached to or protrudes from the stationary base 2360. When the distal teeth 2415 of the closure clutch portion 2410 are in meshing engagement with the distal teeth cavities 2426 in the face plate portion 2424, rotation of the drive sleeve 2400 will result in rotation of the drive shaft segment 2430 about the stationary shaft 2350. As can be seen in FIGS. 93-95, a knife drive gear 2432 is attached to the drive shaft segment 2430 and is meshing engagement with a drive knife gear 2434 that is attached to the end effector drive shaft 2336. Thus, rotation of the drive shaft segment 2430 will result in the rotation of the end effector drive shaft 2336 to drive the cutting instrument 2332 and sled 2333 distally through the surgical staple cartridge 2334 to cut and staple tissue clamped within the surgical end effector 2312. The sled 2333 may be made of, for example, plastic, and may have a sloped distal surface. As the sled 2333 traverses the elongated channel 2322, the sloped forward surface of the sled 2333 pushes up or “drive” the staples in the surgical staple cartridge 2334 through the clamped tissue and against the anvil 2324. The anvil 2324 turns or “forms” the staples, thereby stapling the severed tissue. As used herein, the term “fire” refers to the initiation of actions required to drive the cutting instrument and sled portion in a distal direction through the surgical staple cartridge to cut the tissue clamped in the surgical end effector and drive the staples through the severed tissue.

In use, it may be desirable to rotate the surgical end effector 2312 about the longitudinal tool axis LT-LT. In at least one embodiment, the transmission arrangement 2375 includes a rotational transmission assembly 2465 that is configured to receive a corresponding rotary output motion from the tool drive assembly 1010 of the robotic system 1000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly 2308 (and surgical end effector 2312) about the longitudinal tool axis LT-LT. As can be seen in FIG. 96, a proximal end 2341 of the outer tube 2340 is rotatably supported within a cradle arrangement 2343 attached to the tool mounting plate 2462 of the tool mounting portion 2460. A rotation gear 2345 is formed on or attached to the proximal end 2341 of the outer tube 2340 of the elongated shaft assembly 2308 for meshing engagement with a rotation gear assembly 2470 operably supported on the tool mounting plate 2462. In at least one embodiment, a rotation drive gear 2472 is coupled to a corresponding first one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 2462 when the tool mounting portion 2460 is coupled to the tool drive assembly 1010. See FIGS. 80 and 96. The rotation drive assembly 2470 further comprises a rotary driven gear 2474 that is rotatably supported on the tool mounting plate 2462 in meshing engagement with the rotation gear 2345 and the rotation drive gear 2472. Application of a first rotary output motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding driven element 1304 will thereby cause rotation of the rotation drive gear 2472 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 2472 ultimately results in the rotation of the elongated shaft assembly 2308 (and the end effector 2312) about the longitudinal tool axis LT-LT (primary rotary motion).

Closure of the anvil 2324 relative to the staple cartridge 2034 is accomplished by axially moving the closure tube 2370 in the distal direction “DD”. Axial movement of the closure tube 2370 in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut 2382. To apply the rotary control motion to the closure drive nut 2382, the closure clutch 2410 must first be brought into meshing engagement with the proximal end portion 2384 of the closure drive nut 2382. In various embodiments, the transmission arrangement 2375 further includes a shifter drive assembly 2480 that is operably supported on the tool mounting plate 2462. More specifically and with reference to FIG. 96, it can be seen that a proximal end portion 2359 of the proximal spine portion 2353 extends through the rotation gear 2345 and is rotatably coupled to a shifter gear rack 2481 that is slidably affixed to the tool mounting plate 2462 through slots 2482. The shifter drive assembly 2480 further comprises a shifter drive gear 2483 that is coupled to a corresponding second one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 2462 when the tool mounting portion 2460 is coupled to the tool holder 1270. See FIGS. 80 and 96. The shifter drive assembly 2480 further comprises a shifter driven gear 2478 that is rotatably supported on the tool mounting plate 2462 in meshing engagement with the shifter drive gear 2483 and the shifter rack gear 2482. Application of a second rotary output motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding driven element 1304 will thereby cause rotation of the shifter drive gear 2483 by virtue of being operably coupled thereto. Rotation of the shifter drive gear 2483 ultimately results in the axial movement of the shifter gear rack 2482 and the proximal spine portion 2353 as well as the drive sleeve 2400 and the closure clutch 2410 attached thereto. The direction of axial travel of the closure clutch 2410 depends upon the direction in which the shifter drive gear 2483 is rotated by the robotic system 1000. Thus, rotation of the shifter drive gear 2483 in a first rotary direction will result in the axial movement of the closure clutch 2410 in the proximal direction “PD” to bring the proximal teeth 2416 into meshing engagement with the proximal teeth cavities 2418 in the closure drive nut 2382. Conversely, rotation of the shifter drive gear 2483 in a second rotary direction (opposite to the first rotary direction) will result in the axial movement of the closure clutch 2410 in the distal direction “DD” to bring the distal teeth 2415 into meshing engagement with corresponding distal teeth cavities 2426 formed in the face plate portion 2424 of the knife drive shaft assembly 2420.

Once the closure clutch 2410 has been brought into meshing engagement with the closure drive nut 2382, the closure drive nut 2382 is rotated by rotating the closure clutch 2410. Rotation of the closure clutch 2410 is controlled by applying rotary output motions to a rotary drive transmission portion 2490 of transmission arrangement 2375 that is operably supported on the tool mounting plate 2462 as shown in FIG. 96. In at least one embodiment, the rotary drive transmission 2490 includes a rotary drive assembly 2490′ that includes a gear 2491 that is coupled to a corresponding third one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 2462 when the tool mounting portion 2460 is coupled to the tool holder 1270. See FIGS. 80 and 96. The rotary drive transmission 2490 further comprises a first rotary driven gear 2492 that is rotatably supported on the tool mounting plate 2462 in meshing engagement with a second rotary driven gear 2493 and the rotary drive gear 2491. The second rotary driven gear 2493 is coupled to a proximal end portion 2443 of the drive shaft 2440.

Rotation of the rotary drive gear 2491 in a first rotary direction will result in the rotation of the drive shaft 2440 in a first direction. Conversely, rotation of the rotary drive gear 2491 in a second rotary direction (opposite to the first rotary direction) will cause the drive shaft 2440 to rotate in a second direction. As indicated above, the drive shaft 2440 has a drive gear 2444 that is attached to its distal end 2442 and is in meshing engagement with a driven gear 2450 that is attached to the drive sleeve 2400. Thus, rotation of the drive shaft 2440 results in rotation of the drive sleeve 2400.

A method of operating the surgical tool 2300 will now be described. Once the tool mounting portion 2462 has been operably coupled to the tool holder 1270 of the robotic system 1000 and oriented into position adjacent the target tissue to be cut and stapled, if the anvil 2334 is not already in the open position (FIG. 93), the robotic system 1000 may apply the first rotary output motion to the shifter drive gear 2483 which results in the axial movement of the closure clutch 2410 into meshing engagement with the closure drive nut 2382 (if it is not already in meshing engagement therewith). See FIG. 94. Once the controller 1001 of the robotic system 1000 has confirmed that the closure clutch 2410 is meshing engagement with the closure drive nut 2382 (e.g., by means of sensor(s)) in the surgical end effector 2312 that are in communication with the robotic control system), the robotic controller 1001 may then apply a second rotary output motion to the rotary drive gear 2492 which, as was described above, ultimately results in the rotation of the rotary drive nut 2382 in the first direction which results in the axial travel of the closure tube 2370 in the distal direction “DD”. As the closure tube 2370 moved in the distal direction, it contacts a portion of the anvil 2323 and causes the anvil 2324 to pivot to the closed position to clamp the target tissue between the anvil 2324 and the surgical staple cartridge 2334. Once the robotic controller 1001 determines that the anvil 2334 has been pivoted to the closed position by corresponding sensor(s) in the surgical end effector 2312 in communication therewith, the robotic system 1000 discontinues the application of the second rotary output motion to the rotary drive gear 2491. The robotic controller 1001 may also provide the surgeon with an indication that the anvil 2334 has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller 1001. The robotic controller 1001 then applies the primary rotary control motion 2483 to the shifter drive gear 2483 which results in the axial movement of the closure clutch 2410 into meshing engagement with the face plate portion 2424 of the knife drive shaft assembly 2420. See FIG. 95. Once the controller 1001 of the robotic system 1000 has confirmed that the closure clutch 2410 is meshing engagement with the face plate portion 2424 (by means of sensor(s)) in the end effector 2312 that are in communication with the robotic controller 1001), the robotic controller 1001 may then apply the second rotary output motion to the rotary drive gear 2492 which, as was described above, ultimately results in the axial movement of the cutting instrument 2332 and sled portion 2333 in the distal direction “DD” through the surgical staple cartridge 2334. As the cutting instrument 2332 moves distally through the surgical staple cartridge 2334, the tissue clamped therein is severed. As the sled portion 2333 is driven distally, it causes the staples within the surgical staple cartridge to be driven through the severed tissue into forming contact with the anvil 2324. Once the robotic controller 1001 has determined that the cutting instrument 2324 has reached the end position within the surgical staple cartridge 2334 (by means of sensor(s)) in the end effector 2312 that are in communication with the robotic controller 1001), the robotic controller 1001 discontinues the application of the second rotary output motion to the rotary drive gear 2491. Thereafter, the robotic controller 1001 applies the secondary rotary output motion to the rotary drive gear 2491 which ultimately results in the axial travel of the cutting instrument 2332 and sled portion 2333 in the proximal direction “PD” to the starting position. Once the robotic controller 1001 has determined that the cutting instrument 2324 has reached the staring position by means of sensor(s) in the surgical end effector 2312 that are in communication with the robotic controller 1001, the robotic controller 1001 discontinues the application of the secondary rotary output motion to the rotary drive gear 2491. Thereafter, the robotic controller 1001 applies the primary rotary output motion to the shifter drive gear 2483 to cause the closure clutch 2410 to move into engagement with the rotary drive nut 2382. Once the closure clutch 2410 has been moved into meshing engagement with the rotary drive nut 2382, the robotic controller 1001 then applies the secondary output motion to the rotary drive gear 2491 which ultimately results in the rotation of the rotary drive nut 2382 in the second direction to cause the closure tube 2370 to move in the proximal direction “PD”. As can be seen in FIGS. 93-95, the closure tube 2370 has an opening 2345 therein that engages the tab 2327 on the anvil 2324 to cause the anvil 2324 to pivot to the open position. In alternative embodiments, a spring may also be employed to pivot the anvil 2324 to the open position when the closure tube 2370 has been returned to the starting position (FIG. 93).

FIGS. 97-101 illustrate yet another surgical tool 2500 that may be effectively employed in connection with the robotic system 1000. In various forms, the surgical tool 2500 includes a surgical end effector 2512 that includes a “first portion” in the form of an elongated channel 2522 and a “second movable portion” in the form of a pivotally translatable clamping member, such as an anvil 2524, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 2512. As shown in the illustrated embodiment, the surgical end effector 2512 may include, in addition to the previously-mentioned elongated channel 2522 and anvil 2524, a “third movable portion” in the form of a cutting instrument 2532, a sled (not shown), and a surgical staple cartridge 2534 that is removably seated in the elongated channel 2522. The cutting instrument 2532 may be, for example, a knife. The anvil 2524 may be pivotably opened and closed at a pivot point 2525 connected to the proximate end of the elongated channel 2522. The anvil 2524 may also include a tab 2527 at its proximate end that is configured to operably interface with a component of the mechanical closure system (described further below) to open and close the anvil 2524. When actuated, the knife 2532 and sled travel longitudinally along the elongated channel 2522, thereby cutting tissue clamped within the surgical end effector 2512. The movement of the sled along the elongated channel 2522 causes the staples of the surgical staple cartridge 2534 to be driven through the severed tissue and against the closed anvil 2524, which turns the staples to fasten the severed tissue. In one form, the elongated channel 2522 and the anvil 2524 may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above. The surgical staple cartridge 2534 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 2534, as described above.

It should be noted that although the embodiments of the surgical tool 2500 described herein employ a surgical end effector 2512 that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, disclose cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783, and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used.

In the illustrated embodiment, the elongated channel 2522 of the surgical end effector 2512 is coupled to an elongated shaft assembly 2508 that is coupled to a tool mounting portion 2600. In at least one embodiment, the elongated shaft assembly 2508 comprises a hollow spine tube 2540 that is non-movably coupled to a tool mounting plate 2602 of the tool mounting portion 2600. As can be seen in FIGS. 98 and 99, the proximal end 2523 of the elongated channel 2522 comprises a hollow tubular structure configured to be attached to the distal end 2541 of the spine tube 2540. In one embodiment, for example, the proximal end 2523 of the elongated channel 2522 is welded or glued to the distal end of the spine tube 2540.

As can be further seen in FIGS. 98 and 99, in at least one non-limiting embodiment, the surgical tool 2500 further includes an axially movable actuation member in the form of a closure tube 2550 that is constrained to move axially relative to the elongated channel 2522 and the spine tube 1540. The closure tube 2550 has a proximal end 2552 that has an internal thread 2554 formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut 2560. More specifically, the closure drive nut 2560 has a proximal end portion 2562 that is rotatably supported relative to the elongated channel 2522 and the spine tube 2540. For assembly purposes, the proximal end portion 2562 is threadably attached to a retention ring 2570. The retention ring 2570 is received in a groove 2529 formed between a shoulder 2527 on the proximal end 2523 of the elongated channel 2522 and the distal end 2541 of the spine tube 1540. Such arrangement serves to rotatably support the closure drive nut 2560 within the elongated channel 2522. Rotation of the closure drive nut 2560 will cause the closure tube 2550 to move axially as represented by arrow “D” in FIG. 98.

Extending through the spine tube 2540 and the closure drive nut 2560 is a drive member which, in at least one embodiment, comprises a knife bar 2580 that has a distal end portion 2582 that is rotatably coupled to the cutting instrument 2532 such that the knife bar 2580 may rotate relative to the cutting instrument 2582. As can be seen in FIG. 98-100, the closure drive nut 2560 has a slot 2564 therein through which the knife bar 2580 can slidably extend. Such arrangement permits the knife bar 2580 to move axially relative to the closure drive nut 2560. However, rotation of the knife bar 2580 about the longitudinal tool axis LT-LT will also result in the rotation of the closure drive nut 2560. The axial direction in which the closure tube 2550 moves ultimately depends upon the direction in which the knife bar 2580 and the closure drive nut 2560 are rotated. As the closure tube 2550 is driven distally, the distal end thereof will contact the anvil 2524 and cause the anvil 2524 to pivot to a closed position. Upon application of an opening rotary output motion from the robotic system 1000, the closure tube 2550 will be driven in the proximal direction “PD” and pivot the anvil 2524 to the open position by virtue of the engagement of the tab 2527 with the opening 2555 in the closure tube 2550.

In use, it may be desirable to rotate the surgical end effector 2512 about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion 2600 is configured to receive a corresponding first rotary output motion from the robotic system 1000 and convert that first rotary output motion to a rotary control motion for rotating the elongated shaft assembly 2508 about the longitudinal tool axis LT-LT. As can be seen in FIG. 96, a proximal end 2542 of the hollow spine tube 2540 is rotatably supported within a cradle arrangement 2603 attached to a tool mounting plate 2602 of the tool mounting portion 2600. Various embodiments of the surgical tool 2500 further include a transmission arrangement, generally depicted as 2605, that is operably supported on the tool mounting plate 2602. In various forms the transmission arrangement 2605 include a rotation gear 2544 that is formed on or attached to the proximal end 2542 of the spine tube 2540 for meshing engagement with a rotation drive assembly 2610 that is operably supported on the tool mounting plate 2602. In at least one embodiment, a rotation drive gear 2612 is coupled to a corresponding first one of the rotational bodies, driven discs or elements 1304 on the adapter side of the tool mounting plate 2602 when the tool mounting portion 2600 is coupled to the tool holder 1270. See FIGS. 80 and 101. The rotation drive assembly 2610 further comprises a rotary driven gear 2614 that is rotatably supported on the tool mounting plate 2602 in meshing engagement with the rotation gear 2544 and the rotation drive gear 2612. Application of a first rotary output motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding driven rotational body 1304 will thereby cause rotation of the rotation drive gear 2612 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 2612 ultimately results in the rotation of the elongated shaft assembly 2508 (and the end effector 2512) about the longitudinal tool axis LT-LT.

Closure of the anvil 2524 relative to the surgical staple cartridge 2534 is accomplished by axially moving the closure tube 2550 in the distal direction “DD”. Axial movement of the closure tube 2550 in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut 2382. In various embodiments, the closure drive nut 2560 is rotated by applying a rotary output motion to the knife bar 2580. Rotation of the knife bar 2580 is controlled by applying rotary output motions to a rotary closure system 2620 that is operably supported on the tool mounting plate 2602 as shown in FIG. 52. In at least one embodiment, the rotary closure system 2620 includes a closure drive gear 2622 that is coupled to a corresponding second one of the driven rotatable body portions discs or elements 1304 on the adapter side of the tool mounting plate 2462 when the tool mounting portion 2600 is coupled to the tool holder 1270. See FIGS. 80 and 101. The closure drive gear 2622, in at least one embodiment, is in meshing driving engagement with a closure gear train, generally depicted as 2623. The closure gear drive rain 2623 comprises a first driven closure gear 2624 that is rotatably supported on the tool mounting plate 2602. The first closure driven gear 2624 is attached to a second closure driven gear 2626 by a drive shaft 2628. The second closure driven gear 2626 is in meshing engagement with a third closure driven gear 2630 that is rotatably supported on the tool mounting plate 2602. Rotation of the closure drive gear 2622 in a second rotary direction will result in the rotation of the third closure driven gear 2630 in a second direction. Conversely, rotation of the closure drive gear 2483 in a secondary rotary direction (opposite to the second rotary direction) will cause the third closure driven gear 2630 to rotate in a secondary direction.

As can be seen in FIG. 101, a drive shaft assembly 2640 is coupled to a proximal end of the knife bar 2580. In various embodiments, the drive shaft assembly 2640 includes a proximal portion 2642 that has a square cross-sectional shape. The proximal portion 2642 is configured to slideably engage a correspondingly shaped aperture in the third driven gear 2630. Such arrangement results in the rotation of the drive shaft assembly 2640 (and knife bar 2580) when the third driven gear 2630 is rotated. The drive shaft assembly 2640 is axially advanced in the distal and proximal directions by a knife drive assembly 2650. One form of the knife drive assembly 2650 comprises a rotary drive gear 2652 that is coupled to a corresponding third one of the driven rotatable body portions, discs or elements 1304 on the adapter side of the tool mounting plate 2462 when the tool mounting portion 2600 is coupled to the tool holder 1270. See FIGS. 80 and 101. The rotary driven gear 2652 is in meshing driving engagement with a gear train, generally depicted as 2653. In at least one form, the gear train 2653 further comprises a first rotary driven gear assembly 2654 that is rotatably supported on the tool mounting plate 2602. The first rotary driven gear assembly 2654 is in meshing engagement with a third rotary driven gear assembly 2656 that is rotatably supported on the tool mounting plate 2602 and which is in meshing engagement with a fourth rotary driven gear assembly 2658 that is in meshing engagement with a threaded portion 2644 of the drive shaft assembly 2640. Rotation of the rotary drive gear 2652 in a third rotary direction will result in the axial advancement of the drive shaft assembly 2640 and knife bar 2580 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 2652 in a tertiary rotary direction (opposite to the third rotary direction) will cause the drive shaft assembly 2640 and the knife bar 2580 to move in the proximal direction.

A method of operating the surgical tool 2500 will now be described. Once the tool mounting portion 2600 has been operably coupled to the tool holder 1270 of the robotic system 1000, the robotic system 1000 can orient the surgical end effector 2512 in position adjacent the target tissue to be cut and stapled. If the anvil 2524 is not already in the open position (FIG. 98), the robotic system 1000 may apply the second rotary output motion to the closure drive gear 2622 which results in the rotation of the knife bar 2580 in a second direction. Rotation of the knife bar 2580 in the second direction results in the rotation of the closure drive nut 2560 in a second direction. As the closure drive nut 2560 rotates in the second direction, the closure tube 2550 moves in the proximal direction “PD”. As the closure tube 2550 moves in the proximal direction “PD”, the tab 2527 on the anvil 2524 interfaces with the opening 2555 in the closure tube 2550 and causes the anvil 2524 to pivot to the open position. In addition or in alternative embodiments, a spring (not shown) may be employed to pivot the anvil 2354 to the open position when the closure tube 2550 has been returned to the starting position (FIG. 98). The opened surgical end effector 2512 may then be manipulated by the robotic system 1000 to position the target tissue between the open anvil 2524 and the surgical staple cartridge 2534. Thereafter, the surgeon may initiate the closure process by activating the robotic control system 1000 to apply the second rotary output motion to the closure drive gear 2622 which, as was described above, ultimately results in the rotation of the closure drive nut 2382 in the second direction which results in the axial travel of the closure tube 2250 in the distal direction “DD”. As the closure tube 2550 moves in the distal direction, it contacts a portion of the anvil 2524 and causes the anvil 2524 to pivot to the closed position to clamp the target tissue between the anvil 2524 and the staple cartridge 2534. Once the robotic controller 1001 determines that the anvil 2524 has been pivoted to the closed position by corresponding sensor(s) in the end effector 2512 that are in communication therewith, the robotic controller 1001 discontinues the application of the second rotary output motion to the closure drive gear 2622. The robotic controller 1001 may also provide the surgeon with an indication that the anvil 2524 has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller 1001.

After the robotic controller 1001 has determined that the anvil 2524 is in the closed position, the robotic controller 1001 then applies the third rotary output motion to the rotary drive gear 2652 which results in the axial movement of the drive shaft assembly 2640 and knife bar 2580 in the distal direction “DD”. As the cutting instrument 2532 moves distally through the surgical staple cartridge 2534, the tissue clamped therein is severed. As the sled portion (not shown) is driven distally, it causes the staples within the surgical staple cartridge 2534 to be driven through the severed tissue into forming contact with the anvil 2524. Once the robotic controller 1001 has determined that the cutting instrument 2532 has reached the end position within the surgical staple cartridge 2534 by means of sensor(s) in the surgical end effector 2512 that are in communication with the robotic controller 1001, the robotic controller 1001 discontinues the application of the second rotary output motion to the rotary drive gear 2652. Thereafter, the robotic controller 1001 applies the secondary rotary control motion to the rotary drive gear 2652 which ultimately results in the axial travel of the cutting instrument 2532 and sled portion in the proximal direction “PD” to the starting position. Once the robotic controller 1001 has determined that the cutting instrument 2524 has reached the staring position by means of sensor(s) in the end effector 2512 that are in communication with the robotic controller 1001, the robotic controller 1001 discontinues the application of the secondary rotary output motion to the rotary drive gear 2652. Thereafter, the robotic controller 1001 may apply the secondary rotary output motion to the closure drive gear 2622 which results in the rotation of the knife bar 2580 in a secondary direction. Rotation of the knife bar 2580 in the secondary direction results in the rotation of the closure drive nut 2560 in a secondary direction. As the closure drive nut 2560 rotates in the secondary direction, the closure tube 2550 moves in the proximal direction “PD” to the open position.

FIGS. 102-107B illustrate yet another surgical tool 2700 that may be effectively employed in connection with the robotic system 1000. In various forms, the surgical tool 2700 includes a surgical end effector 2712 that includes a “first portion” in the form of an elongated channel 2722 and a “second movable portion” in on form comprising a pivotally translatable clamping member, such as an anvil 2724, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 2712. As shown in the illustrated embodiment, the surgical end effector 2712 may include, in addition to the previously-mentioned channel 2722 and anvil 2724, a “third movable portion” in the form of a cutting instrument 2732, a sled (not shown), and a surgical staple cartridge 2734 that is removably seated in the elongated channel 2722. The cutting instrument 2732 may be, for example, a knife. The anvil 2724 may be pivotably opened and closed at a pivot point 2725 connected to the proximal end of the elongated channel 2722. The anvil 2724 may also include a tab 2727 at its proximal end that interfaces with a component of the mechanical closure system (described further below) to open and close the anvil 2724. When actuated, the knife 2732 and sled to travel longitudinally along the elongated channel 2722, thereby cutting tissue clamped within the surgical end effector 2712. The movement of the sled along the elongated channel 2722 causes the staples of the surgical staple cartridge 2734 to be driven through the severed tissue and against the closed anvil 2724, which turns the staples to fasten the severed tissue. In one form, the elongated channel 2722 and the anvil 2724 may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above. The surgical staple cartridge 2734 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 2734, as described above.

It should be noted that although the embodiments of the surgical tool 2500 described herein employ a surgical end effector 2712 that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, disclose cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783, and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used.

In the illustrated embodiment, the elongated channel 2722 of the surgical end effector 2712 is coupled to an elongated shaft assembly 2708 that is coupled to a tool mounting portion 2900. Although not shown, the elongated shaft assembly 2708 may include an articulation joint to permit the surgical end effector 2712 to be selectively articulated about an axis that is substantially transverse to the tool axis LT-LT. In at least one embodiment, the elongated shaft assembly 2708 comprises a hollow spine tube 2740 that is non-movably coupled to a tool mounting plate 2902 of the tool mounting portion 2900. As can be seen in FIGS. 103 and 104, the proximal end 2723 of the elongated channel 2722 comprises a hollow tubular structure that is attached to the spine tube 2740 by means of a mounting collar 2790. A cross-sectional view of the mounting collar 2790 is shown in FIG. 105. In various embodiments, the mounting collar 2790 has a proximal flanged end 2791 that is configured for attachment to the distal end of the spine tube 2740. In at least one embodiment, for example, the proximal flanged end 2791 of the mounting collar 2790 is welded or glued to the distal end of the spine tube 2740. As can be further seen in FIGS. 103 and 104, the mounting collar 2790 further has a mounting hub portion 2792 that is sized to receive the proximal end 2723 of the elongated channel 2722 thereon. The proximal end 2723 of the elongated channel 2722 is non-movably attached to the mounting hub portion 2792 by, for example, welding, adhesive, etc.

As can be further seen in FIGS. 103 and 104, the surgical tool 2700 further includes an axially movable actuation member in the form of a closure tube 2750 that is constrained to move axially relative to the elongated channel 2722. The closure tube 2750 has a proximal end 2752 that has an internal thread 2754 formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut 2760. More specifically, the closure drive nut 2760 has a proximal end portion 2762 that is rotatably supported relative to the elongated channel 2722 and the spine tube 2740. For assembly purposes, the proximal end portion 2762 is threadably attached to a retention ring 2770. The retention ring 2770 is received in a groove 2729 formed between a shoulder 2727 on the proximal end 2723 of the channel 2722 and the mounting hub 2729 of the mounting collar 2790. Such arrangement serves to rotatably support the closure drive nut 2760 within the channel 2722. Rotation of the closure drive nut 2760 will cause the closure tube 2750 to move axially as represented by arrow “D” in FIG. 103.

Extending through the spine tube 2740, the mounting collar 2790, and the closure drive nut 2760 is a drive member, which in at least one embodiment, comprises a knife bar 2780 that has a distal end portion 2782 that is coupled to the cutting instrument 2732. As can be seen in FIGS. 54 and 55, the mounting collar 2790 has a passage 2793 therethrough for permitting the knife bar 2780 to slidably pass therethrough. Similarly, the closure drive nut 2760 has a slot 2764 therein through which the knife bar 2780 can slidably extend. Such arrangement permits the knife bar 2780 to move axially relative to the closure drive nut 2760.

Actuation of the anvil 2724 is controlled by a rotary driven closure shaft 2800. As can be seen in FIGS. 103 and 104, a distal end portion 2802 of the closure drive shaft 2800 extends through a passage 2794 in the mounting collar 2790 and a closure gear 2804 is attached thereto. The closure gear 2804 is configured for driving engagement with the inner surface 2761 of the closure drive nut 2760. Thus, rotation of the closure shaft 2800 will also result in the rotation of the closure drive nut 2760. The axial direction in which the closure tube 2750 moves ultimately depends upon the direction in which the closure shaft 2800 and the closure drive nut 2760 are rotated. For example, in response to one rotary closure motion received from the robotic system 1000, the closure tube 2750 will be driven in the distal direction “DD”. As the closure tube 2750 is driven distally, the opening 2745 will engage the tab 2727 on the anvil 2724 and cause the anvil 2724 to pivot to a closed position. Upon application of an opening rotary motion from the robotic system 1000, the closure tube 2750 will be driven in the proximal direction “PD” and pivot the anvil 2724 to the open position. In various embodiments, a spring (not shown) may be employed to bias the anvil 2724 to the open position (FIG. 103).

In use, it may be desirable to rotate the surgical end effector 2712 about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion 2900 is configured to receive a corresponding first rotary output motion from the robotic system 1000 for rotating the elongated shaft assembly 2708 about the tool axis LT-LT. As can be seen in FIG. 107, a proximal end 2742 of the hollow spine tube 2740 is rotatably supported within a cradle arrangement 2903 and a bearing assembly 2904 that are attached to a tool mounting plate 2902 of the tool mounting portion 2900. A rotation gear 2744 is formed on or attached to the proximal end 2742 of the spine tube 2740 for meshing engagement with a rotation drive assembly 2910 that is operably supported on the tool mounting plate 2902. In at least one embodiment, a rotation drive gear 2912 is coupled to a corresponding first one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 2602 when the tool mounting portion 2600 is coupled to the tool holder 1270. See FIGS. 80 and 107. The rotation drive assembly 2910 further comprises a rotary driven gear 2914 that is rotatably supported on the tool mounting plate 2902 in meshing engagement with the rotation gear 2744 and the rotation drive gear 2912. Application of a first rotary control motion from the robotic system 1000 through the tool holder 1270 and the adapter 1240 to the corresponding driven element 1304 will thereby cause rotation of the rotation drive gear 2912 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 2912 ultimately results in the rotation of the elongated shaft assembly 2708 (and the end effector 2712) about the longitudinal tool axis LT-LT (primary rotary motion).

Closure of the anvil 2724 relative to the staple cartridge 2734 is accomplished by axially moving the closure tube 2750 in the distal direction “DD”. Axial movement of the closure tube 2750 in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut 2760. In various embodiments, the closure drive nut 2760 is rotated by applying a rotary output motion to the closure drive shaft 2800. As can be seen in FIG. 107, a proximal end portion 2806 of the closure drive shaft 2800 has a driven gear 2808 thereon that is in meshing engagement with a closure drive assembly 2920. In various embodiments, the closure drive system 2920 includes a closure drive gear 2922 that is coupled to a corresponding second one of the driven rotational bodies or elements 1304 on the adapter side of the tool mounting plate 2462 when the tool mounting portion 2900 is coupled to the tool holder 1270. See FIGS. 80 and 107. The closure drive gear 2922 is supported in meshing engagement with a closure gear train, generally depicted as 2923. In at least one form, the closure gear rain 2923 comprises a first driven closure gear 2924 that is rotatably supported on the tool mounting plate 2902. The first closure driven gear 2924 is attached to a second closure driven gear 2926 by a drive shaft 2928. The second closure driven gear 2926 is in meshing engagement with a planetary gear assembly 2930. In various embodiments, the planetary gear assembly 2930 includes a driven planetary closure gear 2932 that is rotatably supported within the bearing assembly 2904 that is mounted on tool mounting plate 2902. As can be seen in FIGS. 107 and 107B, the proximal end portion 2806 of the closure drive shaft 2800 is rotatably supported within the proximal end portion 2742 of the spine tube 2740 such that the driven gear 2808 is in meshing engagement with central gear teeth 2934 formed on the planetary gear 2932. As can also be seen in FIG. 107A, two additional support gears 2936 are attached to or rotatably supported relative to the proximal end portion 2742 of the spine tube 2740 to provide bearing support thereto. Such arrangement with the planetary gear assembly 2930 serves to accommodate rotation of the spine shaft 2740 by the rotation drive assembly 2910 while permitting the closure driven gear 2808 to remain in meshing engagement with the closure drive system 2920. In addition, rotation of the closure drive gear 2922 in a first direction will ultimately result in the rotation of the closure drive shaft 2800 and closure drive nut 2760 which will ultimately result in the closure of the anvil 2724 as described above. Conversely, rotation of the closure drive gear 2922 in a second opposite direction will ultimately result in the rotation of the closure drive nut 2760 in an opposite direction which results in the opening of the anvil 2724.

As can be seen in FIG. 101, the proximal end 2784 of the knife bar 2780 has a threaded shaft portion 2786 attached thereto which is in driving engagement with a knife drive assembly 2940. In various embodiments, the threaded shaft portion 2786 is rotatably supported by a bearing 2906 attached to the tool mounting plate 2902. Such arrangement permits the threaded shaft portion 2786 to rotate and move axially relative to the tool mounting plate 2902. The knife bar 2780 is axially advanced in the distal and proximal directions by the knife drive assembly 2940. One form of the knife drive assembly 2940 comprises a rotary drive gear 2942 that is coupled to a corresponding third one of the rotatable bodies, driven discs or elements 1304 on the adapter side of the tool mounting plate 2902 when the tool mounting portion 2900 is coupled to the tool holder 1270. See FIGS. 80 and 107. The rotary drive gear 2942 is in meshing engagement with a knife gear train, generally depicted as 2943. In various embodiments, the knife gear train 2943 comprises a first rotary driven gear assembly 2944 that is rotatably supported on the tool mounting plate 2902. The first rotary driven gear assembly 2944 is in meshing engagement with a third rotary driven gear assembly 2946 that is rotatably supported on the tool mounting plate 2902 and which is in meshing engagement with a fourth rotary driven gear assembly 2948 that is in meshing engagement with the threaded portion 2786 of the knife bar 2780. Rotation of the rotary drive gear 2942 in one direction will result in the axial advancement of the knife bar 2780 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 2942 in an opposite direction will cause the knife bar 2780 to move in the proximal direction. Tool 2700 may otherwise be used as described above.

FIGS. 108 and 109 illustrate a surgical tool embodiment 2700 that is substantially identical to tool 2700 that was described in detail above. However tool 2700′ includes a pressure sensor 2950 that is configured to provide feedback to the robotic controller 1001 concerning the amount of clamping pressure experienced by the anvil 2724. In various embodiments, for example, the pressure sensor may comprise a spring biased contact switch. For a continuous signal, it would use either a cantilever beam with a strain gage on it or a dome button top with a strain gage on the inside. Another version may comprise an off switch that contacts only at a known desired load. Such arrangement would include a dome on the based wherein the dome is one electrical pole and the base is the other electrical pole. Such arrangement permits the robotic controller 1001 to adjust the amount of clamping pressure being applied to the tissue within the surgical end effector 2712 by adjusting the amount of closing pressure applied to the anvil 2724. Those of ordinary skill in the art will understand that such pressure sensor arrangement may be effectively employed with several of the surgical tool embodiments described herein as well as their equivalent structures.

FIG. 110 illustrates a portion of another surgical tool 3000 that may be effectively used in connection with a robotic system 1000. The surgical tool 3003 employs on-board motor(s) for powering various components of a surgical end effector cutting instrument. In at least one non-limiting embodiment for example, the surgical tool 3000 includes a surgical end effector in the form of an endocutter (not shown) that has an anvil (not shown) and surgical staple cartridge arrangement (not shown) of the types and constructions described above. The surgical tool 3000 also includes an elongated shaft (not shown) and anvil closure arrangement (not shown) of the types described above. Thus, this portion of the Detailed Description will not repeat the description of those components beyond that which is necessary to appreciate the unique and novel attributes of the various embodiments of surgical tool 3000.

In the depicted embodiment, the end effector includes a cutting instrument 3002 that is coupled to a knife bar 3003. As can be seen in FIG. 110, the surgical tool 3000 includes a tool mounting portion 3010 that includes a tool mounting plate 3012 that is configured to mountingly interface with the adaptor portion 1240′ which is coupled to the robotic system 1000 in the various manners described above. The tool mounting portion 3010 is configured to operably support a transmission arrangement 3013 thereon. In at least one embodiment, the adaptor portion 1240′ may be identical to the adaptor portion 1240 described in detail above without the powered rotation bodies and disc members employed by adapter 1240. In other embodiments, the adaptor portion 1240′ may be identical to adaptor portion 1240. Still other modifications which are considered to be within the spirit and scope of the various forms of the present invention may employ one or more of the mechanical motions (i.e., rotary motion(s)) from the tool holder portion 1270 (as described hereinabove) to power/actuate the transmission arrangement 3013 while also employing one or more motors within the tool mounting portion 3010 to power one or more other components of the surgical end effector. In addition, while the end effector of the depicted embodiment comprises an endocutter, those of ordinary skill in the art will understand that the unique and novel attributes of the depicted embodiment may be effectively employed in connection with other types of surgical end effectors without departing from the spirit and scope of various forms of the present invention.

In various embodiments, the tool mounting plate 3012 is configured to at least house a first firing motor 3011 for supplying firing and retraction motions to the knife bar 3003 which is coupled to or otherwise operably interfaces with the cutting instrument 3002. The tool mounting plate 3012 has an array of electrical connecting pins 3014 which are configured to interface with the slots 1258 (FIG. 79) in the adapter 1240′. Such arrangement permits the controller 1001 of the robotic system 1000 to provide control signals to the electronic control circuit 3020 of the surgical tool 3000. While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.

Control circuit 3020 is shown in schematic form in FIG. 110. In one form or embodiment, the control circuit 3020 includes a power supply in the form of a battery 3022 that is coupled to an on-off solenoid powered switch 3024. Control circuit 3020 further includes an on/off firing solenoid 3026 that is coupled to a double pole switch 3028 for controlling the rotational direction of the motor 3011. Thus, when the controller 1001 of the robotic system 1000 supplies an appropriate control signal, switch 3024 will permit battery 3022 to supply power to the double pole switch 3028. The controller 1001 of the robotic system 1000 will also supply an appropriate signal to the double pole switch 3028 to supply power to the motor 3011. When it is desired to fire the surgical end effector (i.e., drive the cutting instrument 3002 distally through tissue clamped in the surgical end effector, the double pole switch 3028 will be in a first position. When it is desired to retract the cutting instrument 3002 to the starting position, the double pole switch 3028 will be moved to the second position by the controller 1001.

Various embodiments of the surgical tool 3000 also employ a gear box 3030 that is sized, in cooperation with a firing gear train 3031 that, in at least one non-limiting embodiment, comprises a firing drive gear 3032 that is in meshing engagement with a firing driven gear 3034 for generating a desired amount of driving force necessary to drive the cutting instrument 3002 through tissue and to drive and form staples in the various manners described herein. In the embodiment depicted in FIG. 110, the driven gear 3034 is coupled to a screw shaft 3036 that is in threaded engagement with a screw nut arrangement 3038 that is constrained to move axially (represented by arrow “D”). The screw nut arrangement 3038 is attached to the firing bar 3003. Thus, by rotating the screw shaft 3036 in a first direction, the cutting instrument 3002 is driven in the distal direction “DD” and rotating the screw shaft in an opposite second direction, the cutting instrument 3002 may be retracted in the proximal direction “PD”.

FIG. 111 illustrates a portion of another surgical tool 3000′ that is substantially identical to tool 3000 described above, except that the driven gear 3034 is attached to a drive shaft 3040. The drive shaft 3040 is attached to a second driver gear 3042 that is in meshing engagement with a third driven gear 3044 that is in meshing engagement with a screw 3046 coupled to the firing bar 3003.

FIG. 112 illustrates another surgical tool 3200 that may be effectively used in connection with a robotic system 1000. In this embodiment, the surgical tool 3200 includes a surgical end effector 3212 that in one non-limiting form, comprises a component portion that is selectively movable between first and second positions relative to at least one other end effector component portion. As will be discussed in further detail below, the surgical tool 3200 employs on-board motors for powering various components of a transmission arrangement 3305. The surgical end effector 3212 includes an elongated channel 3222 that operably supports a surgical staple cartridge 3234. The elongated channel 3222 has a proximal end 3223 that slidably extends into a hollow elongated shaft assembly 3208 that is coupled to a tool mounting portion 3300. In addition, the surgical end effector 3212 includes an anvil 3224 that is pivotally coupled to the elongated channel 3222 by a pair of trunnions 3225 that are received within corresponding openings 3229 in the elongated channel 3222. A distal end portion 3209 of the shaft assembly 3208 includes an opening 3245 into which a tab 3227 on the anvil 3224 is inserted in order to open the anvil 3224 as the elongated channel 3222 is moved axially in the proximal direction “PD” relative to the distal end portion 3209 of the shaft assembly 3208. In various embodiments, a spring (not shown) may be employed to bias the anvil 3224 to the open position.

As indicated above, the surgical tool 3200 includes a tool mounting portion 3300 that includes a tool mounting plate 3302 that is configured to operably support the transmission arrangement 3305 and to mountingly interface with the adaptor portion 1240′ which is coupled to the robotic system 1000 in the various manners described above. In at least one embodiment, the adaptor portion 1240′ may be identical to the adaptor portion 1240 described in detail above without the powered disc members employed by adapter 1240. In other embodiments, the adaptor portion 1240′ may be identical to adaptor portion 1240. However, in such embodiments, because the various components of the surgical end effector 3212 are all powered by motor(s) in the tool mounting portion 3300, the surgical tool 3200 will not employ or require any of the mechanical (i.e., non-electrical) actuation motions from the tool holder portion 1270 to power the surgical end effector 3200 components. Still other modifications which are considered to be within the spirit and scope of the various forms of the present invention may employ one or more of the mechanical motions from the tool holder portion 1270 (as described hereinabove) to power/actuate one or more of the surgical end effector components while also employing one or more motors within the tool mounting portion to power one or more other components of the surgical end effector.

In various embodiments, the tool mounting plate 3302 is configured to support a first firing motor 3310 for supplying firing and retraction motions to the transmission arrangement 3305 to drive a knife bar 3335 that is coupled to a cutting instrument 3332 of the type described above. As can be seen in FIG. 112, the tool mounting plate 3212 has an array of electrical connecting pins 3014 which are configured to interface with the slots 1258 (FIG. 79) in the adapter 1240′. Such arrangement permits the controller 1001 of the robotic system 1000 to provide control signals to the electronic control circuits 3320, 3340 of the surgical tool 3200. While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.

In one form or embodiment, the first control circuit 3320 includes a first power supply in the form of a first battery 3322 that is coupled to a first on-off solenoid powered switch 3324. The first firing control circuit 3320 further includes a first on/off firing solenoid 3326 that is coupled to a first double pole switch 3328 for controlling the rotational direction of the first firing motor 3310. Thus, when the robotic controller 1001 supplies an appropriate control signal, the first switch 3324 will permit the first battery 3322 to supply power to the first double pole switch 3328. The robotic controller 1001 will also supply an appropriate signal to the first double pole switch 3328 to supply power to the first firing motor 3310. When it is desired to fire the surgical end effector (i.e., drive the cutting instrument 3232 distally through tissue clamped in the surgical end effector 3212, the first switch 3328 will be positioned in a first position by the robotic controller 1001. When it is desired to retract the cutting instrument 3232 to the starting position, the robotic controller 1001 will send the appropriate control signal to move the first switch 3328 to the second position.

Various embodiments of the surgical tool 3200 also employ a first gear box 3330 that is sized, in cooperation with a firing drive gear 3332 coupled thereto that operably interfaces with a firing gear train 3333. In at least one non-limiting embodiment, the firing gear train 333 comprises a firing driven gear 3334 that is in meshing engagement with drive gear 3332, for generating a desired amount of driving force necessary to drive the cutting instrument 3232 through tissue and to drive and form staples in the various manners described herein. In the embodiment depicted in FIG. 112, the driven gear 3334 is coupled to a drive shaft 3335 that has a second driven gear 3336 coupled thereto. The second driven gear 3336 is supported in meshing engagement with a third driven gear 3337 that is in meshing engagement with a fourth driven gear 3338. The fourth driven gear 3338 is in meshing engagement with a threaded proximal portion 3339 of the knife bar 3235 that is constrained to move axially. Thus, by rotating the drive shaft 3335 in a first direction, the cutting instrument 3232 is driven in the distal direction “DD” and rotating the drive shaft 3335 in an opposite second direction, the cutting instrument 3232 may be retracted in the proximal direction “PD”.

As indicated above, the opening and closing of the anvil 3224 is controlled by axially moving the elongated channel 3222 relative to the elongated shaft assembly 3208. The axial movement of the elongated channel 3222 is controlled by a closure control system 3339. In various embodiments, the closure control system 3339 includes a closure shaft 3340 which has a hollow threaded end portion 3341 that threadably engages a threaded closure rod 3342. The threaded end portion 3341 is rotatably supported in a spine shaft 3343 that operably interfaces with the tool mounting portion 3300 and extends through a portion of the shaft assembly 3208 as shown. The closure system 3339 further comprises a closure control circuit 3350 that includes a second power supply in the form of a second battery 3352 that is coupled to a second on-off solenoid powered switch 3354. Closure control circuit 3350 further includes a second on/off firing solenoid 3356 that is coupled to a second double pole switch 3358 for controlling the rotation of a second closure motor 3360. Thus, when the robotic controller 1001 supplies an appropriate control signal, the second switch 3354 will permit the second battery 3352 to supply power to the second double pole switch 3354. The robotic controller 1001 will also supply an appropriate signal to the second double pole switch 3358 to supply power to the second motor 3360. When it is desired to close the anvil 3224, the second switch 3348 will be in a first position. When it is desired to open the anvil 3224, the second switch 3348 will be moved to a second position.

Various embodiments of tool mounting portion 3300 also employ a second gear box 3362 that is coupled to a closure drive gear 3364. The closure drive gear 3364 is in meshing engagement with a closure gear train 3363. In various non-limiting forms, the closure gear train 3363 includes a closure driven gear 3365 that is attached to a closure drive shaft 3366. Also attached to the closure drive shaft 3366 is a closure drive gear 3367 that is in meshing engagement with a closure shaft gear 3360 attached to the closure shaft 3340. FIG. 112 depicts the end effector 3212 in the open position. As indicated above, when the threaded closure rod 3342 is in the position depicted in FIG. 112, a spring (not shown) biases the anvil 3224 to the open position. When it is desired to close the anvil 3224, the robotic controller 1001 will activate the second motor 3360 to rotate the closure shaft 3340 to draw the threaded closure rod 3342 and the channel 3222 in the proximal direction ‘PD’. As the anvil 3224 contacts the distal end portion 3209 of the shaft 3208, the anvil 3224 is pivoted to the closed position.

A method of operating the surgical tool 3200 will now be described. Once the tool mounting portion 3302 has be operably coupled to the tool holder 1270 of the robotic system 1000, the robotic system 1000 can orient the end effector 3212 in position adjacent the target tissue to be cut and stapled. If the anvil 3224 is not already in the open position, the robotic controller 1001 may activate the second closure motor 3360 to drive the channel 3222 in the distal direction to the position depicted in FIG. 112. Once the robotic controller 1001 determines that the surgical end effector 3212 is in the open position by sensor(s) in the and effector and/or the tool mounting portion 3300, the robotic controller 1001 may provide the surgeon with a signal to inform the surgeon that the anvil 3224 may then be closed. Once the target tissue is positioned between the open anvil 3224 and the surgical staple cartridge 3234, the surgeon may then commence the closure process by activating the robotic controller 1001 to apply a closure control signal to the second closure motor 3360. The second closure motor 3360 applies a rotary motion to the closure shaft 3340 to draw the channel 3222 in the proximal direction “PD” until the anvil 3224 has been pivoted to the closed position. Once the robotic controller 1001 determines that the anvil 3224 has been moved to the closed position by sensor(s) in the surgical end effector 3212 and/or in the tool mounting portion 3300 that are in communication with the robotic control system, the motor 3360 may be deactivated. Thereafter, the firing process may be commenced either manually by the surgeon activating a trigger, button, etc. on the controller 1001 or the controller 1001 may automatically commence the firing process.

To commence the firing process, the robotic controller 1001 activates the firing motor 3310 to drive the firing bar 3235 and the cutting instrument 3232 in the distal direction “DD”. Once robotic controller 1001 has determined that the cutting instrument 3232 has moved to the ending position within the surgical staple cartridge 3234 by means of sensors in the surgical end effector 3212 and/or the motor drive portion 3300, the robotic controller 1001 may provide the surgeon with an indication signal. Thereafter the surgeon may manually activate the first motor 3310 to retract the cutting instrument 3232 to the starting position or the robotic controller 1001 may automatically activate the first motor 3310 to retract the cutting element 3232.

The embodiment depicted in FIG. 112 does not include an articulation joint. FIGS. 113 and 114 illustrate surgical tools 3200′ and 3200″ that have end effectors 3212′, 3212″, respectively that may be employed with an elongated shaft embodiment that has an articulation joint of the various types disclosed herein. For example, as can be seen in FIG. 113, a threaded closure shaft 3342 is coupled to the proximal end 3223 of the elongated channel 3222 by a flexible cable or other flexible member 3345. The location of an articulation joint (not shown) within the elongated shaft assembly 3208 will coincide with the flexible member 3345 to enable the flexible member 3345 to accommodate such articulation. In addition, in the above-described embodiment, the flexible member 33345 is rotatably affixed to the proximal end portion 3223 of the elongated channel 3222 to enable the flexible member 3345 to rotate relative thereto to prevent the flexible member 3229 from “winding up” relative to the channel 3222. Although not shown, the cutting element may be driven in one of the above described manners by a knife bar that can also accommodate articulation of the elongated shaft assembly. FIG. 114 depicts a surgical end effector 3212″ that is substantially identical to the surgical end effector 3212 described above, except that the threaded closure rod 3342 is attached to a closure nut 3347 that is constrained to only move axially within the elongated shaft assembly 3208. The flexible member 3345 is attached to the closure nut 3347. Such arrangement also prevents the threaded closure rod 3342 from winding-up the flexible member 3345. A flexible knife bar 3235′ may be employed to facilitate articulation of the surgical end effector 3212″.

The surgical tools 3200, 3200′, and 3200″ described above may also employ anyone of the cutting instrument embodiments described herein. As described above, the anvil of each of the end effectors of these tools is closed by drawing the elongated channel into contact with the distal end of the elongated shaft assembly. Thus, once the target tissue has been located between the staple cartridge 3234 and the anvil 3224, the robotic controller 1001 can start to draw the channel 3222 inward into the shaft assembly 3208. In various embodiments, however, to prevent the end effector 3212, 3212′, 3212″ from moving the target tissue with the end effector during this closing process, the controller 1001 may simultaneously move the tool holder and ultimately the tool such to compensate for the movement of the elongated channel 3222 so that, in effect, the target tissue is clamped between the anvil and the elongated channel without being otherwise moved.

FIGS. 115-117 depict another surgical tool embodiment 3201 that is substantially identical to surgical tool 3200″ described above, except for the differences discussed below. In this embodiment, the threaded closure rod 3342′ has variable pitched grooves. More specifically, as can be seen in FIG. 116, the closure rod 3342′ has a distal groove section 3380 and a proximal groove section 3382. The distal and proximal groove sections 3380, 3382 are configured for engagement with a lug 3390 supported within the hollow threaded end portion 3341′. As can be seen in FIG. 116, the distal groove section 3380 has a finer pitch than the groove section 3382. Thus, such variable pitch arrangement permits the elongated channel 3222 to be drawn into the shaft 3208 at a first speed or rate by virtue of the engagement between the lug 3390 and the proximal groove segment 3382. When the lug 3390 engages the distal groove segment, the channel 3222 will be drawn into the shaft 3208 at a second speed or rate. Because the proximal groove segment 3382 is coarser than the distal groove segment 3380, the first speed will be greater than the second speed. Such arrangement serves to speed up the initial closing of the end effector for tissue manipulation and then after the tissue has been properly positioned therein, generate the amount of closure forces to properly clamp the tissue for cutting and sealing. Thus, the anvil 3234 initially closes fast with a lower force and then applies a higher closing force as the anvil closes more slowly.

The surgical end effector opening and closing motions are employed to enable the user to use the end effector to grasp and manipulate tissue prior to fully clamping it in the desired location for cutting and sealing. The user may, for example, open and close the surgical end effector numerous times during this process to orient the end effector in a proper position which enables the tissue to be held in a desired location. Thus, in at least some embodiments, to produce the high loading for firing, the fine thread may require as many as 5-10 full rotations to generate the necessary load. In some cases, for example, this action could take as long as 2-5 seconds. If it also took an equally long time to open and close the end effector each time during the positioning/tissue manipulation process, just positioning the end effector may take an undesirably long time. If that happens, it is possible that a user may abandon such use of the end effector for use of a conventional grasper device. Use of graspers, etc. may undesirably increase the costs associated with completing the surgical procedure.

The above-described embodiments employ a battery or batteries to power the motors used to drive the end effector components. Activation of the motors is controlled by the robotic system 1000. In alternative embodiments, the power supply may comprise alternating current “AC” that is supplied to the motors by the robotic system 1000. That is, the AC power would be supplied from the system powering the robotic system 1000 through the tool holder and adapter. In still other embodiments, a power cord or tether may be attached to the tool mounting portion 3300 to supply the requisite power from a separate source of alternating or direct current.

In use, the controller 1001 may apply an initial rotary motion to the closure shaft 3340 (FIG. 112) to draw the elongated channel 3222 axially inwardly into the elongated shaft assembly 3208 and move the anvil from a first position to an intermediate position at a first rate that corresponds with the point wherein the distal groove section 3380 transitions to the proximal groove section 3382. Further application of rotary motion to the closure shaft 3340 will cause the anvil to move from the intermediate position to the closed position relative to the surgical staple cartridge. When in the closed position, the tissue to be cut and stapled is properly clamped between the anvil and the surgical staple cartridge.

FIGS. 118-122 illustrate another surgical tool embodiment 3400 of the present invention. This embodiment includes an elongated shaft assembly 3408 that extends from a tool mounting portion 3500. The elongated shaft assembly 3408 includes a rotatable proximal closure tube segment 3410 that is rotatably journaled on a proximal spine member 3420 that is rigidly coupled to a tool mounting plate 3502 of the tool mounting portion 3500. The proximal spine member 3420 has a distal end 3422 that is coupled to an elongated channel portion 3522 of a surgical end effector 3412. For example, in at least one embodiment, the elongated channel portion 3522 has a distal end portion 3523 that “hookingly engages” the distal end 3422 of the spine member 3420. The elongated channel 3522 is configured to support a surgical staple cartridge 3534 therein. This embodiment may employ one of the various cutting instrument embodiments disclosed herein to sever tissue that is clamped in the surgical end effector 3412 and fire the staples in the staple cartridge 3534 into the severed tissue.

Surgical end effector 3412 has an anvil 3524 that is pivotally coupled to the elongated channel 3522 by a pair of trunnions 3525 that are received in corresponding openings 3529 in the elongated channel 3522. The anvil 3524 is moved between the open (FIG. 118) and closed positions (FIGS. 119-121) by a distal closure tube segment 3430. A distal end portion 3432 of the distal closure tube segment 3430 includes an opening 3445 into which a tab 3527 on the anvil 3524 is inserted in order to open and close the anvil 3524 as the distal closure tube segment 3430 moves axially relative thereto. In various embodiments, the opening 3445 is shaped such that as the closure tube segment 3430 is moved in the proximal direction, the closure tube segment 3430 causes the anvil 3524 to pivot to an open position. In addition or in the alternative, a spring (not shown) may be employed to bias the anvil 3524 to the open position.

As can be seen in FIGS. 118-121, the distal closure tube segment 3430 includes a lug 3442 that extends from its distal end 3440 into threaded engagement with a variable pitch groove/thread 3414 formed in the distal end 3412 of the rotatable proximal closure tube segment 3410. The variable pitch groove/thread 3414 has a distal section 3416 and a proximal section 3418. The pitch of the distal groove/thread section 3416 is finer than the pitch of the proximal groove/thread section 3418. As can also be seen in FIGS. 118-121, the distal closure tube segment 3430 is constrained for axial movement relative to the spine member 3420 by an axial retainer pin 3450 that is received in an axial slot 3424 in the distal end of the spine member 3420.

As indicated above, the anvil 2524 is open and closed by rotating the proximal closure tube segment 3410. The variable pitch thread arrangement permits the distal closure tube segment 3430 to be driven in the distal direction “DD” at a first speed or rate by virtue of the engagement between the lug 3442 and the proximal groove/thread section 3418. When the lug 3442 engages the distal groove/thread section 3416, the distal closure tube segment 3430 will be driven in the distal direction at a second speed or rate. Because the proximal groove/thread section 3418 is coarser than the distal groove/thread segment 3416, the first speed will be greater than the second speed.

In at least one embodiment, the tool mounting portion 3500 is configured to receive a corresponding first rotary motion from the robotic controller 1001 and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube segment 3410 about a longitudinal tool axis LT-LT. As can be seen in FIG. 122, a proximal end 3460 of the proximal closure tube segment 3410 is rotatably supported within a cradle arrangement 3504 attached to a tool mounting plate 3502 of the tool mounting portion 3500. A rotation gear 3462 is formed on or attached to the proximal end 3460 of the closure tube segment 3410 for meshing engagement with a rotation drive assembly 3470 that is operably supported on the tool mounting plate 3502. In at least one embodiment, a rotation drive gear 3472 is coupled to a corresponding first one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 3502 when the tool mounting portion 3500 is coupled to the tool holder 1270. See FIGS. 80 and 122. The rotation drive assembly 3470 further comprises a rotary driven gear 3474 that is rotatably supported on the tool mounting plate 3502 in meshing engagement with the rotation gear 3462 and the rotation drive gear 3472. Application of a first rotary control motion from the robotic controller 1001 through the tool holder 1270 and the adapter 1240 to the corresponding driven element 1304 will thereby cause rotation of the rotation drive gear 3472 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 3472 ultimately results in the rotation of the closure tube segment 3410 to open and close the anvil 3524 as described above.

As indicated above, the surgical end effector 3412 employs a cutting instrument of the type and constructions described above. FIG. 122 illustrates one form of knife drive assembly 3480 for axially advancing a knife bar 3492 that is attached to such cutting instrument. One form of the knife drive assembly 3480 comprises a rotary drive gear 3482 that is coupled to a corresponding third one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 3502 when the tool drive portion 3500 is coupled to the tool holder 1270. See FIGS. 80 and 122. The knife drive assembly 3480 further comprises a first rotary driven gear assembly 3484 that is rotatably supported on the tool mounting plate 5200. The first rotary driven gear assembly 3484 is in meshing engagement with a third rotary driven gear assembly 3486 that is rotatably supported on the tool mounting plate 3502 and which is in meshing engagement with a fourth rotary driven gear assembly 3488 that is in meshing engagement with a threaded portion 3494 of drive shaft assembly 3490 that is coupled to the knife bar 3492. Rotation of the rotary drive gear 3482 in a second rotary direction will result in the axial advancement of the drive shaft assembly 3490 and knife bar 3492 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 3482 in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly 3490 and the knife bar 3492 to move in the proximal direction.

FIGS. 123-132 illustrate another surgical tool 3600 embodiment of the present invention that may be employed in connection with a robotic system 1000. As can be seen in FIG. 123, the tool 3600 includes an end effector in the form of a disposable loading unit 3612. Various forms of disposable loading units that may be employed in connection with tool 3600 are disclosed, for example, in U.S. Patent Application Publication No. 2009/0206131, entitled END EFFECTOR ARRANGEMENTS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, the disclosure of which is herein incorporated by reference in its entirety.

In at least one form, the disposable loading unit 3612 includes an anvil assembly 3620 that is supported for pivotal travel relative to a carrier 3630 that operably supports a staple cartridge 3640 therein. A mounting assembly 3650 is pivotally coupled to the cartridge carrier 3630 to enable the carrier 3630 to pivot about an articulation axis AA-AA relative to a longitudinal tool axis LT-LT. Referring to FIG. 128, mounting assembly 3650 includes upper and lower mounting portions 3652 and 3654. Each mounting portion includes a threaded bore 3656 on each side thereof dimensioned to receive threaded bolts (not shown) for securing the proximal end of carrier 3630 thereto. A pair of centrally located pivot members 3658 extends between upper and lower mounting portions via a pair of coupling members 3660 which engage a distal end of a housing portion 3662. Coupling members 3660 each include an interlocking proximal portion 3664 configured to be received in grooves 3666 formed in the proximal end of housing portion 3662 to retain mounting assembly 3650 and housing portion 3662 in a longitudinally fixed position in relation thereto.

In various forms, housing portion 3662 of disposable loading unit 3614 includes an upper housing half 3670 and a lower housing half 3672 contained within an outer casing 3674. The proximal end of housing half 3670 includes engagement nubs 3676 for releasably engaging an elongated shaft 3700 and an insertion tip 3678. Nubs 3676 form a bayonet-type coupling with the distal end of the elongated shaft 3700 which will be discussed in further detail below. Housing halves 3670, 3672 define a channel 3674 for slidably receiving axial drive assembly 3680. A second articulation link 3690 is dimensioned to be slidably positioned within a slot 3679 formed between housing halves 3670, 3672. A pair of blow out plates 3691 are positioned adjacent the distal end of housing portion 3662 adjacent the distal end of axial drive assembly 3680 to prevent outward bulging of drive assembly 3680 during articulation of carrier 3630.

In various embodiments, the second articulation link 3690 includes at least one elongated metallic plate. Preferably, two or more metallic plates are stacked to form link 3690. The proximal end of articulation link 3690 includes a hook portion 3692 configured to engage first articulation link 3710 extending through the elongated shaft 3700. The distal end of the second articulation link 3690 includes a loop 3694 dimensioned to engage a projection formed on mounting assembly 3650. The projection is laterally offset from pivot pin 3658 such that linear movement of second articulation link 3690 causes mounting assembly 3650 to pivot about pivot pins 3658 to articulate the carrier 3630.

In various forms, axial drive assembly 3680 includes an elongated drive beam 3682 including a distal working head 3684 and a proximal engagement section 3685. Drive beam 3682 may be constructed from a single sheet of material or, preferably, multiple stacked sheets. Engagement section 3685 includes a pair of engagement fingers which are dimensioned and configured to mountingly engage a pair of corresponding retention slots formed in drive member 3686. Drive member 3686 includes a proximal porthole 3687 configured to receive the distal end 3722 of control rod 2720 (See FIG. 132) when the proximal end of disposable loading unit 3614 is engaged with elongated shaft 3700 of surgical tool 3600.

Referring to FIGS. 123 and 130-132, to use the surgical tool 3600, a disposable loading unit 3612 is first secured to the distal end of elongated shaft 3700. It will be appreciated that the surgical tool 3600 may include an articulating or a non-articulating disposable loading unit. To secure the disposable loading unit 3612 to the elongated shaft 3700, the distal end 3722 of control rod 3720 is inserted into insertion tip 3678 of disposable loading unit 3612, and insertion tip 3678 is slid longitudinally into the distal end of the elongated shaft 3700 in the direction indicated by arrow “A” in FIG. 130 such that hook portion 3692 of second articulation link 3690 slides within a channel 3702 in the elongated shaft 3700. Nubs 3676 will each be aligned in a respective channel (not shown) in elongated shaft 3700. When hook portion 3692 engages the proximal wall 3704 of channel 3702, disposable loading unit 3612 is rotated in the direction indicated by arrow “B” in FIGS. 129 and 132 to move hook portion 3692 of second articulation link 3690 into engagement with finger 3712 of first articulation link 3710. Nubs 3676 also form a “bayonet-type” coupling within annular channel 3703 in the elongated shaft 3700. During rotation of loading unit 3612, nubs 3676 engage cam surface 3732 (FIG. 130) of block plate 3730 to initially move plate 3730 in the direction indicated by arrow “C” in FIG. 130 to lock engagement member 3734 in recess 3721 of control rod 3720 to prevent longitudinal movement of control rod 3720 during attachment of disposable loading unit 3612. During the final degree of rotation, nubs 3676 disengage from cam surface 3732 to allow blocking plate 3730 to move in the direction indicated by arrow “D” in FIGS. 129 and 132 from behind engagement member 3734 to once again permit longitudinal movement of control rod 3720. While the above-described attachment method reflects that the disposable loading unit 3612 is manipulated relative to the elongated shaft 3700, the person of ordinary skill in the art will appreciate that the disposable loading unit 3612 may be supported in a stationary position and the robotic system 1000 may manipulate the elongated shaft portion 3700 relative to the disposable loading unit 3612 to accomplish the above-described coupling procedure.

FIG. 133 illustrates another disposable loading unit 3612′ that is attachable in a bayonet-type arrangement with the elongated shaft 3700′ that is substantially identical to shaft 3700 except for the differences discussed below. As can be seen in FIG. 133, the elongated shaft 3700′ has slots 3705 that extend for at least a portion thereof and which are configured to receive nubs 3676 therein. In various embodiments, the disposable loading unit 3612′ includes arms 3677 extending therefrom which, prior to the rotation of disposable loading unit 3612′, can be aligned, or at least substantially aligned, with nubs 3676 extending from housing portion 3662. In at least one embodiment, arms 3677 and nubs 3676 can be inserted into slots 3705 in elongated shaft 3700′, for example, when disposable loading unit 3612′ is inserted into elongated shaft 3700′. When disposable loading unit 3612′ is rotated, arms 3677 can be sufficiently confined within slots 3705 such that slots 3705 can hold them in position, whereas nubs 3676 can be positioned such that they are not confined within slots 3705 and can be rotated relative to arms 3677. When rotated, the hook portion 3692 of the articulation link 3690 is engaged with the first articulation link 3710 extending through the elongated shaft 3700′.

Other methods of coupling the disposable loading units to the end of the elongated shaft may be employed. For example, as shown in FIGS. 134 and 135, disposable loading unit 3612″ can include connector portion 3613 which can be configured to be engaged with connector portion 3740 of the elongated shaft 3700″. In at least one embodiment, connector portion 3613 can include at least one projection and/or groove which can be mated with at least one projection and/or groove of connector portion 3740. In at least one such embodiment, the connector portions can include co-operating dovetail portions. In various embodiments, the connector portions can be configured to interlock with one another and prevent, or at least inhibit, distal and/or proximal movement of disposable loading unit 3612″ along axis 3741. In at least one embodiment, the distal end of the axial drive assembly 3680′ can include aperture 3681 which can be configured to receive projection 3721 extending from control rod 3720′. In various embodiments, such an arrangement can allow disposable loading unit 3612″ to be assembled to elongated shaft 3700 in a direction which is not collinear with or parallel to axis 3741. Although not illustrated, axial drive assembly 3680′ and control rod 3720 can include any other suitable arrangement of projections and apertures to operably connect them to each other. Also in this embodiment, the first articulation link 3710 which can be operably engaged with second articulation link 3690.

As can be seen in FIGS. 123 and 136, the surgical tool 3600 includes a tool mounting portion 3750. The tool mounting portion 3750 includes a tool mounting plate 3751 that is configured for attachment to the tool drive assembly 1010. The tool mounting portion operably supported a transmission arrangement 3752 thereon. In use, it may be desirable to rotate the disposable loading unit 3612 about the longitudinal tool axis defined by the elongated shaft 3700. In at least one embodiment, the transmission arrangement 3752 includes a rotational transmission assembly 3753 that is configured to receive a corresponding rotary output motion from the tool drive assembly 1010 of the robotic system 1000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft 3700 (and the disposable loading unit 3612) about the longitudinal tool axis LT-LT. As can be seen in FIG. 136, a proximal end 3701 of the elongated shaft 3700 is rotatably supported within a cradle arrangement 3754 that is attached to the tool mounting plate 3751 of the tool mounting portion 3750. A rotation gear 3755 is formed on or attached to the proximal end 3701 of the elongated shaft 3700 for meshing engagement with a rotation gear assembly 3756 operably supported on the tool mounting plate 3751. In at least one embodiment, a rotation drive gear 3757 drivingly coupled to a corresponding first one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 3751 when the tool mounting portion 3750 is coupled to the tool drive assembly 1010. The rotation transmission assembly 3753 further comprises a rotary driven gear 3758 that is rotatably supported on the tool mounting plate 3751 in meshing engagement with the rotation gear 3755 and the rotation drive gear 3757. Application of a first rotary output motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding driven element 1304 will thereby cause rotation of the rotation drive gear 3757 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 3757 ultimately results in the rotation of the elongated shaft 3700 (and the disposable loading unit 3612) about the longitudinal tool axis LT-LT (primary rotary motion).

As can be seen in FIG. 136, a drive shaft assembly 3760 is coupled to a proximal end of the control rod 2720. In various embodiments, the control rod 2720 is axially advanced in the distal and proximal directions by a knife/closure drive transmission 3762. One form of the knife/closure drive assembly 3762 comprises a rotary drive gear 3763 that is coupled to a corresponding second one of the driven rotatable body portions, discs or elements 1304 on the adapter side of the tool mounting plate 3751 when the tool mounting portion 3750 is coupled to the tool holder 1270. The rotary driven gear 3763 is in meshing driving engagement with a gear train, generally depicted as 3764. In at least one form, the gear train 3764 further comprises a first rotary driven gear assembly 3765 that is rotatably supported on the tool mounting plate 3751. The first rotary driven gear assembly 3765 is in meshing engagement with a second rotary driven gear assembly 3766 that is rotatably supported on the tool mounting plate 3751 and which is in meshing engagement with a third rotary driven gear assembly 3767 that is in meshing engagement with a threaded portion 3768 of the drive shaft assembly 3760. Rotation of the rotary drive gear 3763 in a second rotary direction will result in the axial advancement of the drive shaft assembly 3760 and control rod 2720 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 3763 in a secondary rotary direction which is opposite to the second rotary direction will cause the drive shaft assembly 3760 and the control rod 2720 to move in the proximal direction. When the control rod 2720 moves in the distal direction, it drives the drive beam 3682 and the working head 3684 thereof distally through the surgical staple cartridge 3640. As the working head 3684 is driven distally, it operably engages the anvil 3620 to pivot it to a closed position.

The cartridge carrier 3630 may be selectively articulated about articulation axis AA-AA by applying axial articulation control motions to the first and second articulation links 3710 and 3690. In various embodiments, the transmission arrangement 3752 further includes an articulation drive 3770 that is operably supported on the tool mounting plate 3751. More specifically and with reference to FIG. 136, it can be seen that a proximal end portion 3772 of an articulation drive shaft 3771 configured to operably engage with the first articulation link 3710 extends through the rotation gear 3755 and is rotatably coupled to a shifter rack gear 3774 that is slidably affixed to the tool mounting plate 3751 through slots 3775. The articulation drive 3770 further comprises a shifter drive gear 3776 that is coupled to a corresponding third one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 3751 when the tool mounting portion 3750 is coupled to the tool holder 1270. The articulation drive assembly 3770 further comprises a shifter driven gear 3778 that is rotatably supported on the tool mounting plate 3751 in meshing engagement with the shifter drive gear 3776 and the shifter rack gear 3774. Application of a third rotary output motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding driven element 1304 will thereby cause rotation of the shifter drive gear 3776 by virtue of being operably coupled thereto. Rotation of the shifter drive gear 3776 ultimately results in the axial movement of the shifter gear rack 3774 and the articulation drive shaft 3771. The direction of axial travel of the articulation drive shaft 3771 depends upon the direction in which the shifter drive gear 3776 is rotated by the robotic system 1000. Thus, rotation of the shifter drive gear 3776 in a first rotary direction will result in the axial movement of the articulation drive shaft 3771 in the proximal direction “PD” and cause the cartridge carrier 3630 to pivot in a first direction about articulation axis AA-AA. Conversely, rotation of the shifter drive gear 3776 in a second rotary direction (opposite to the first rotary direction) will result in the axial movement of the articulation drive shaft 3771 in the distal direction “DD” to thereby cause the cartridge carrier 3630 to pivot about articulation axis AA-AA in an opposite direction.

FIG. 137 illustrates yet another surgical tool 3800 embodiment of the present invention that may be employed with a robotic system 1000. As can be seen in FIG. 137, the surgical tool 3800 includes a surgical end effector 3812 in the form of an endocutter 3814 that employs various cable-driven components. Various forms of cable driven endocutters are disclosed, for example, in U.S. Pat. No. 7,726,537, entitled SURGICAL STAPLER WITH UNIVERSAL ARTICULATION AND TISSUE PRE-CLAMP, and U.S. Patent Application Publication No. 2008/0308603, entitled CABLE DRIVEN SURGICAL STAPLING AND CUTTING INSTRUMENT WITH IMPROVED CABLE ATTACHMENT ARRANGEMENTS, the disclosures of each are herein incorporated by reference in their respective entireties. Such endocutters 3814 may be referred to as a “disposable loading unit” because they are designed to be disposed of after a single use. However, the various unique and novel arrangements of various embodiments of the present invention may also be employed in connection with cable driven end effectors that are reusable.

As can be seen in FIG. 137, in at least one form, the endocutter 3814 includes an elongated channel 3822 that operably supports a surgical staple cartridge 3834 therein. An anvil 3824 is pivotally supported for movement relative to the surgical staple cartridge 3834. The anvil 3824 has a cam surface 3825 that is configured for interaction with a preclamping collar 3840 that is supported for axial movement relative thereto. The end effector 3814 is coupled to an elongated shaft assembly 3808 that is attached to a tool mounting portion 3900. In various embodiments, a closure cable 3850 is employed to move pre-clamping collar 3840 distally onto and over cam surface 3825 to close the anvil 3824 relative to the surgical staple cartridge 3834 and compress the tissue therebetween. Preferably, closure cable 3850 attaches to the pre-clamping collar 3840 at or near point 3841 and is fed through a passageway in anvil 3824 (or under a proximal portion of anvil 3824) and fed proximally through shaft 3808. Actuation of closure cable 3850 in the proximal direction “PD” forces pre-clamping collar 3840 distally against cam surface 3825 to close anvil 3824 relative to staple cartridge assembly 3834. A return mechanism, e.g., a spring, cable system or the like, may be employed to return pre-clamping collar 3840 to a pre-clamping orientation which re-opens the anvil 3824.

The elongated shaft assembly 3808 may be cylindrical in shape and define a channel 3811 which may be dimensioned to receive a tube adapter 3870. See FIG. 138. In various embodiments, the tube adapter 3870 may be slidingly received in friction-fit engagement with the internal channel of elongated shaft 3808. The outer surface of the tube adapter 3870 may further include at least one mechanical interface, e.g., a cutout or notch 3871, oriented to mate with a corresponding mechanical interface, e.g., a radially inwardly extending protrusion or detent (not shown), disposed on the inner periphery of internal channel 3811 to lock the tube adapter 3870 to the elongated shaft 3808. In various embodiments, the distal end of tube adapter 3870 may include a pair of opposing flanges 3872a and 3872b which define a cavity for pivotably receiving a pivot block 3873 therein. Each flange 3872a and 3872b may include an aperture 3874a and 3874b that is oriented to receive a pivot pin 3875 that extends through an aperture in pivot block 3873 to allow pivotable movement of pivot block 3873 about an axis that is perpendicular to longitudinal tool axis “LT-LT”. The channel 3822 may be formed with two upwardly extending flanges 3823a, 3823b that have apertures therein, which are dimensioned to receive a pivot pin 3827. In turn, pivot pin 3875 mounts through apertures in pivot block 3873 to permit rotation of the surgical end effector 3814 about the “Y” axis as needed during a given surgical procedure. Rotation of pivot block 3873 about pin 3875 along “Z” axis rotates the surgical end effector 3814 about the “Z” axis. See FIG. 138. Other methods of fastening the elongated channel 3822 to the pivot block 3873 may be effectively employed without departing from the spirit and scope of the present invention.

The surgical staple cartridge 3834 can be assembled and mounted within the elongated channel 3822 during the manufacturing or assembly process and sold as part of the surgical end effector 3812, or the surgical staple cartridge 3834 may be designed for selective mounting within the elongated channel 3822 as needed and sold separately, e.g., as a single use replacement, replaceable or disposable staple cartridge assembly. It is within the scope of this disclosure that the surgical end effector 3812 may be pivotally, operatively, or integrally attached, for example, to distal end 3809 of the elongated shaft assembly 3808 of a disposable surgical stapler. As is known, a used or spent disposable loading unit 3814 can be removed from the elongated shaft assembly 3808 and replaced with an unused disposable unit. The endocutter 3814 may also preferably include an actuator, preferably a dynamic clamping member 3860, a sled 3862, as well as staple pushers (not shown) and staples (not shown) once an unspent or unused cartridge 3834 is mounted in the elongated channel 3822. See FIG. 138.

In various embodiments, the dynamic clamping member 3860 is associated with, e.g., mounted on and rides on, or with or is connected to or integral with and/or rides behind sled 3862. It is envisioned that dynamic clamping member 3860 can have cam wedges or cam surfaces attached or integrally formed or be pushed by a leading distal surface thereof. In various embodiments, dynamic clamping member 3860 may include an upper portion 3863 having a transverse aperture 3864 with a pin 3865 mountable or mounted therein, a central support or upward extension 3866 and substantially T-shaped bottom flange 3867 which cooperate to slidingly retain dynamic clamping member 3860 along an ideal cutting path during longitudinal, distal movement of sled 3862. The leading cutting edge 3868, here, knife blade 3869, is dimensioned to ride within slot 3835 of staple cartridge assembly 3834 and separate tissue once stapled. As used herein, the term “knife assembly” may include the aforementioned dynamic clamping member 3860, knife 3869, and sled 3862 or other knife/beam/sled drive arrangements and cutting instrument arrangements. In addition, the various embodiments of the present invention may be employed with knife assembly/cutting instrument arrangements that may be entirely supported in the staple cartridge 3834 or partially supported in the staple cartridge 3834 and elongated channel 3822 or entirely supported within the elongated channel 3822.

In various embodiments, the dynamic clamping member 3860 may be driven in the proximal and distal directions by a cable drive assembly 3870. In one non-limiting form, the cable drive assembly comprises a pair of advance cables 3880, 3882 and a firing cable 3884. FIGS. 139 and 140 illustrate the cables 3880, 3882, 3884 in diagrammatic form. As can be seen in those Figures, a first advance cable 3880 is operably supported on a first distal cable transition support 3885 which may comprise, for example, a pulley, rod, capstan, etc. that is attached to the distal end of the elongated channel 3822 and a first proximal cable transition support 3886 which may comprise, for example, a pulley, rod, capstan, etc. that is operably supported by the elongated channel 3822. A distal end 3881 of the first advance cable 3880 is affixed to the dynamic clamping assembly 3860. The second advance cable 3882 is operably supported on a second distal cable transition support 3887 which may, for example, comprise a pulley, rod, capstan etc. that is mounted to the distal end of the elongated channel 3822 and a second proximal cable transition support 3888 which may, for example, comprise a pulley, rod, capstan, etc. mounted to the proximal end of the elongated channel 3822. The proximal end 3883 of the second advance cable 3882 may be attached to the dynamic clamping assembly 3860. Also in these embodiments, an endless firing cable 3884 is employed and journaled on a support 3889 that may comprise a pulley, rod, capstan, etc. mounted within the elongated shaft 3808. In one embodiment, the retract cable 3884 may be formed in a loop and coupled to a connector 3889′ that is fixedly attached to the first and second advance cables 3880, 3882.

Various non-limiting embodiments of the present invention include a cable drive transmission 3920 that is operably supported on a tool mounting plate 3902 of the tool mounting portion 3900. The tool mounting portion 3900 has an array of electrical connecting pins 3904 which are configured to interface with the slots 1258 (FIG. 79) in the adapter 1240′. Such arrangement permits the robotic system 1000 to provide control signals to a control circuit 3910 of the tool 3800. While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.

Control circuit 3910 is shown in schematic form in FIG. 137. In one form or embodiment, the control circuit 3910 includes a power supply in the form of a battery 3912 that is coupled to an on-off solenoid powered switch 3914. In other embodiments, however, the power supply may comprise a source of alternating current. Control circuit 3910 further includes an on/off solenoid 3916 that is coupled to a double pole switch 3918 for controlling motor rotation direction. Thus, when the robotic system 1000 supplies an appropriate control signal, switch 3914 will permit battery 3912 to supply power to the double pole switch 3918. The robotic system 1000 will also supply an appropriate signal to the double pole switch 3918 to supply power to a shifter motor 3922.

Turning to FIGS. 141-146, at least one embodiment of the cable drive transmission 3920 comprises a drive pulley 3930 that is operably mounted to a drive shaft 3932 that is attached to a driven element 1304 of the type and construction described above that is designed to interface with a corresponding drive element 1250 of the adapter 1240. See FIGS. 80 and 144. Thus, when the tool mounting portion 3900 is operably coupled to the tool holder 1270, the robot system 1000 can apply rotary motion to the drive pulley 3930 in a desired direction. A first drive member or belt 3934 drivingly engages the drive pulley 3930 and a second drive shaft 3936 that is rotatably supported on a shifter yoke 3940. The shifter yoke 3940 is operably coupled to the shifter motor 3922 such that rotation of the shaft 3923 of the shifter motor 3922 in a first direction will shift the shifter yoke in a first direction “FD” and rotation of the shifter motor shaft 3923 in a second direction will shift the shifter yoke 3940 in a second direction “SD”. Other embodiments of the present invention may employ a shifter solenoid arrangement for shifting the shifter yoke in said first and second directions.

As can be seen in FIGS. 141-144, a closure drive gear 3950 mounted to a second drive shaft 3936 and is configured to selectively mesh with a closure drive assembly, generally designated as 3951. Likewise a firing drive gear 3960 is also mounted to the second drive shaft 3936 and is configured to selectively mesh with a firing drive assembly generally designated as 3961. Rotation of the second drive shaft 3936 causes the closure drive gear 3950 and the firing drive gear 3960 to rotate. In one non-limiting embodiment, the closure drive assembly 3951 comprises a closure driven gear 3952 that is coupled to a first closure pulley 3954 that is rotatably supported on a third drive shaft 3956. The closure cable 3850 is drivingly received on the first closure pulley 3954 such that rotation of the closure driven gear 3952 will drive the closure cable 3850. Likewise, the firing drive assembly 3961 comprises a firing driven gear 3962 that is coupled to a first firing pulley 3964 that is rotatably supported on the third drive shaft 3956. The first and second driving pulleys 3954 and 3964 are independently rotatable on the third drive shaft 3956. The firing cable 3884 is drivingly received on the first firing pulley 3964 such that rotation of the firing driven gear 3962 will drive the firing cable 3884.

Also in various embodiments, the cable drive transmission 3920 further includes a braking assembly 3970. In at least one embodiment, for example, the braking assembly 3970 includes a closure brake 3972 that comprises a spring arm 3973 that is attached to a portion of the transmission housing 3971. The closure brake 3972 has a gear lug 3974 that is sized to engage the teeth of the closure driven gear 3952 as will be discussed in further detail below. The braking assembly 3970 further includes a firing brake 3976 that comprises a spring arm 3977 that is attached to another portion of the transmission housing 3971. The firing brake 3976 has a gear lug 3978 that is sized to engage the teeth of the firing driven gear 3962.

At least one embodiment of the surgical tool 3800 may be used as follows. The tool mounting portion 3900 is operably coupled to the interface 1240 of the robotic system 1000. The controller or control unit of the robotic system is operated to locate the tissue to be cut and stapled between the open anvil 3824 and the staple cartridge 3834. When in that initial position, the braking assembly 3970 has locked the closure driven gear 3952 and the firing driven gear 3962 such that they cannot rotate. That is, as shown in FIG. 142, the gear lug 3974 is in locking engagement with the closure driven gear 3952 and the gear lug 3978 is in locking engagement with the firing driven gear 3962. Once the surgical end effector 3814 has been properly located, the controller 1001 of the robotic system 1000 will provide a control signal to the shifter motor 3922 (or shifter solenoid) to move the shifter yoke 3940 in the first direction. As the shifter yoke 3940 is moved in the first direction, the closure drive gear 3950 moves the gear lug 3974 out of engagement with the closure driven gear 3952 as it moves into meshing engagement with the closure driven gear 3952. As can be seen in FIG. 141, when in that position, the gear lug 3978 remains in locking engagement with the firing driven gear 3962 to prevent actuation of the firing system. Thereafter, the robotic controller 1001 provides a first rotary actuation motion to the drive pulley 3930 through the interface between the driven element 1304 and the corresponding components of the tool holder 1240. As the drive pulley 3930 is rotated in the first direction, the closure cable 3850 is rotated to drive the preclamping collar 3840 into closing engagement with the cam surface 3825 of the anvil 3824 to move it to the closed position thereby clamping the target tissue between the anvil 3824 and the staple cartridge 3834. See FIG. 137. Once the anvil 3824 has been moved to the closed position, the robotic controller 1001 stops the application of the first rotary motion to the drive pulley 3930. Thereafter, the robotic controller 1001 may commence the firing process by sending another control signal to the shifter motor 3922 (or shifter solenoid) to cause the shifter yoke to move in the second direction “SD” as shown in FIG. 94. As the shifter yoke 3940 is moved in the second direction, the firing drive gear 3960 moves the gear lug 3978 out of engagement with the firing driven gear 3962 as it moves into meshing engagement with the firing driven gear 3962. As can be seen in FIG. 143, when in that position, the gear lug 3974 remains in locking engagement with the closure driven gear 3952 to prevent actuation of the closure system. Thereafter, the robotic controller 1001 is activated to provide the first rotary actuation motion to the drive pulley 3930 through the interface between the driven element 1304 and the corresponding components of the tool holder 1240. As the drive pulley 3930 is rotated in the first direction, the firing cable 3884 is rotated to drive the dynamic clamping member 3860 in the distal direction “DD” thereby firing the stapes and cutting the tissue clamped in the end effector 3814. Once the robotic system 1000 determines that the dynamic clamping member 3860 has reached its distal most position—either through sensors or through monitoring the amount of rotary input applied to the drive pulley 3930, the controller 1001 may then apply a second rotary motion to the drive pulley 3930 to rotate the closure cable 3850 in an opposite direction to cause the dynamic clamping member 3860 to be retracted in the proximal direction “PD”. Once the dynamic clamping member has been retracted to the starting position, the application of the second rotary motion to the drive pulley 3930 is discontinued. Thereafter, the shifter motor 3922 (or shifter solenoid) is powered to move the shifter yoke 3940 to the closure position (FIG. 141). Once the closure drive gear 3950 is in meshing engagement with the closure driven gear 3952, the robotic controller 1001 may once again apply the second rotary motion to the drive pulley 3930. Rotation of the drive pulley 3930 in the second direction causes the closure cable 3850 to retract the preclamping collar 3840 out of engagement with the cam surface 3825 of the anvil 3824 to permit the anvil 3824 to move to an open position (by a spring or other means) to release the stapled tissue from the surgical end effector 3814.

FIG. 147 illustrates a surgical tool 4000 that employs a gear driven firing bar 4092 as shown in FIGS. 148-150. This embodiment includes an elongated shaft assembly 4008 that extends from a tool mounting portion 4100. The tool mounting portion 4100 includes a tool mounting plate 4102 that operable supports a transmission arrangement 4103 thereon. The elongated shaft assembly 4008 includes a rotatable proximal closure tube 4010 that is rotatably journaled on a proximal spine member 4020 that is rigidly coupled to the tool mounting plate 4102. The proximal spine member 4020 has a distal end that is coupled to an elongated channel portion 4022 of a surgical end effector 4012. The surgical effector 4012 may be substantially similar to surgical end effector 3412 described above. In addition, the anvil 4024 of the surgical end effector 4012 may be opened and closed by a distal closure tube 4030 that operably interfaces with the proximal closure tube 4010. Distal closure tube 4030 is identical to distal closure tube 3430 described above. Similarly, proximal closure tube 4010 is identical to proximal closure tube segment 3410 described above.

Anvil 4024 is opened and closed by rotating the proximal closure tube 4010 in manner described above with respect to distal closure tube 3410. In at least one embodiment, the transmission arrangement comprises a closure transmission, generally designated as 4011. As will be further discussed below, the closure transmission 4011 is configured to receive a corresponding first rotary motion from the robotic system 1000 and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube 4010 about the longitudinal tool axis LT-LT. As can be seen in FIG. 150, a proximal end 4060 of the proximal closure tube 4010 is rotatably supported within a cradle arrangement 4104 that is attached to a tool mounting plate 4102 of the tool mounting portion 4100. A rotation gear 4062 is formed on or attached to the proximal end 4060 of the closure tube segment 4010 for meshing engagement with a rotation drive assembly 4070 that is operably supported on the tool mounting plate 4102. In at least one embodiment, a rotation drive gear 4072 is coupled to a corresponding first one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 4102 when the tool mounting portion 4100 is coupled to the tool holder 1270. See FIGS. 80 and 150. The rotation drive assembly 4070 further comprises a rotary driven gear 4074 that is rotatably supported on the tool mounting plate 4102 in meshing engagement with the rotation gear 4062 and the rotation drive gear 4072. Application of a first rotary control motion from the robotic system 1000 through the tool holder 1270 and the adapter 1240 to the corresponding driven element 1304 will thereby cause rotation of the rotation drive gear 4072 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 4072 ultimately results in the rotation of the closure tube segment 4010 to open and close the anvil 4024 as described above.

As indicated above, the end effector 4012 employs a cutting element 3860 as shown in FIGS. 148 and 149. In at least one non-limiting embodiment, the transmission arrangement 4103 further comprises a knife drive transmission that includes a knife drive assembly 4080. FIG. 150 illustrates one form of knife drive assembly 4080 for axially advancing the knife bar 4092 that is attached to such cutting element using cables as described above with respect to surgical tool 3800. In particular, the knife bar 4092 replaces the firing cable 3884 employed in an embodiment of surgical tool 3800. One form of the knife drive assembly 4080 comprises a rotary drive gear 4082 that is coupled to a corresponding second one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 4102 when the tool mounting portion 4100 is coupled to the tool holder 1270. See FIGS. 80 and 150. The knife drive assembly 4080 further comprises a first rotary driven gear assembly 4084 that is rotatably supported on the tool mounting plate 4102. The first rotary driven gear assembly 4084 is in meshing engagement with a third rotary driven gear assembly 4086 that is rotatably supported on the tool mounting plate 4102 and which is in meshing engagement with a fourth rotary driven gear assembly 4088 that is in meshing engagement with a threaded portion 4094 of drive shaft assembly 4090 that is coupled to the knife bar 4092. Rotation of the rotary drive gear 4082 in a second rotary direction will result in the axial advancement of the drive shaft assembly 4090 and knife bar 4092 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 4082 in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly 4090 and the knife bar 4092 to move in the proximal direction. Movement of the firing bar 4092 in the proximal direction “PD” will drive the cutting element 3860 in the distal direction “DD”. Conversely, movement of the firing bar 4092 in the distal direction “DD” will result in the movement of the cutting element 3860 in the proximal direction “PD”.

FIGS. 151-157 illustrate yet another surgical tool 5000 that may be effectively employed in connection with a robotic system 1000. In various forms, the surgical tool 5000 includes a surgical end effector 5012 in the form of a surgical stapling instrument that includes an elongated channel 5020 and a pivotally translatable clamping member, such as an anvil 5070, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 5012. As can be seen in FIG. 153, the elongated channel 5020 may be substantially U-shaped in cross-section and be fabricated from, for example, titanium, 203 stainless steel, 304 stainless steel, 416 stainless steel, 17-4 stainless steel, 17-7 stainless steel, 6061 or 7075 aluminum, chromium steel, ceramic, etc. A substantially U-shaped metal channel pan 5022 may be supported in the bottom of the elongated channel 5020 as shown.

Various embodiments include an actuation member in the form of a sled assembly 5030 that is operably supported within the surgical end effector 5012 and axially movable therein between a staring position and an ending position in response to control motions applied thereto. In some forms, the metal channel pan 5022 has a centrally-disposed slot 5024 therein to movably accommodate a base portion 5032 of the sled assembly 5030. The base portion 5032 includes a foot portion 5034 that is sized to be slidably received in a slot 5021 in the elongated channel 5020. See FIG. 153. As can be seen in FIGS. 152, 153, 156, and 157, the base portion 5032 of sled assembly 5030 includes an axially extending threaded bore 5036 that is configured to be threadedly received on a threaded drive shaft 5130 as will be discussed in further detail below. In addition, the sled assembly 5030 includes an upstanding support portion 5038 that supports a tissue cutting blade or tissue cutting instrument 5040. The upstanding support portion 5038 terminates in a top portion 5042 that has a pair of laterally extending retaining fins 5044 protruding therefrom. As shown in FIG. 153, the fins 5044 are positioned to be received within corresponding slots 5072 in anvil 5070. The fins 5044 and the foot 5034 serve to retain the anvil 5070 in a desired spaced closed position as the sled assembly 5030 is driven distally through the tissue clamped within the surgical end effector 5014. As can also be seen in FIGS. 155 and 157, the sled assembly 5030 further includes a reciprocatably or sequentially activatable drive assembly 5050 for driving staple pushers toward the closed anvil 5070.

More specifically and with reference to FIGS. 153 and 154, the elongated channel 5020 is configured to operably support a surgical staple cartridge 5080 therein. In at least one form, the surgical staple cartridge 5080 comprises a body portion 5082 that may be fabricated from, for example, Vectra, Nylon (6/6 or 6/12) and include a centrally disposed slot 5084 for accommodating the upstanding support portion 5038 of the sled assembly 5030. See FIG. 153. These materials could also be filled with glass, carbon, or mineral fill of 10%-40%. The surgical staple cartridge 5080 further includes a plurality of cavities 5086 for movably supporting lines or rows of staple-supporting pushers 5088 therein. The cavities 5086 may be arranged in spaced longitudinally extending lines or rows 5090, 5092, 5094, 5096. For example, the rows 5090 may be referred to herein as first outboard rows. The rows 5092 may be referred to herein as first inboard rows. The rows 5094 may be referred to as second inboard rows and the rows 5096 may be referred to as second outboard rows. The first inboard row 5090 and the first outboard row 5092 are located on a first lateral side of the longitudinal slot 5084 and the second inboard row 5094 and the second outboard row 5096 are located on a second lateral side of the longitudinal slot 5084. The first staple pushers 5088 in the first inboard row 5092 are staggered in relationship to the first staple pushers 5088 in the first outboard row 5090. Similarly, the second staple pushers 5088 in the second outboard row 5096 are staggered in relationship to the second pushers 5088 in the second inboard row 5094. Each pusher 5088 operably supports a surgical staple 5098 thereon.

In various embodiments, the sequentially-activatable or reciprocatably-activatable drive assembly 5050 includes a pair of outboard drivers 5052 and a pair of inboard drivers 5054 that are each attached to a common shaft 5056 that is rotatably mounted within the base 5032 of the sled assembly 5030. The outboard drivers 5052 are oriented to sequentially or reciprocatingly engage a corresponding plurality of outboard activation cavities 5026 provided in the channel pan 5022. Likewise, the inboard drivers 5054 are oriented to sequentially or reciprocatingly engage a corresponding plurality of inboard activation cavities 5028 provided in the channel pan 5022. The inboard activation cavities 5028 are arranged in a staggered relationship relative to the adjacent outboard activation cavities 5026. See FIG. 154. As can also be seen in FIGS. 105 and 107, in at least one embodiment, the sled assembly 5030 further includes distal wedge segments 5060 and intermediate wedge segments 5062 located on each side of the bore 5036 to engage the pushers 5088 as the sled assembly 5030 is driven distally in the distal direction “DD”. As indicated above, the sled assembly 5030 is threadedly received on a threaded portion 5132 of a drive shaft 5130 that is rotatably supported within the end effector 5012. In various embodiments, for example, the drive shaft 5130 has a distal end 5134 that is supported in a distal bearing 5136 mounted in the surgical end effector 5012. See FIGS. 153 and 154.

In various embodiments, the surgical end effector 5012 is coupled to a tool mounting portion 5200 by an elongated shaft assembly 5108. In at least one embodiment, the tool mounting portion 5200 operably supports a transmission arrangement generally designated as 5204 that is configured to receive rotary output motions from the robotic system. The elongated shaft assembly 5108 includes an outer closure tube 5110 that is rotatable and axially movable on a spine member 5120 that is rigidly coupled to a tool mounting plate 5201 of the tool mounting portion 5200. The spine member 5120 also has a distal end 5122 that is coupled to the elongated channel portion 5020 of the surgical end effector 5012.

In use, it may be desirable to rotate the surgical end effector 5012 about a longitudinal tool axis LT-LT defined by the elongated shaft assembly 5008. In various embodiments, the outer closure tube 5110 has a proximal end 5112 that is rotatably supported on the tool mounting plate 5201 of the tool drive portion 5200 by a forward support cradle 5203. The proximal end 5112 of the outer closure tube 5110 is configured to operably interface with a rotation transmission portion 5206 of the transmission arrangement 5204. In various embodiments, the proximal end 5112 of the outer closure tube 5110 is also supported on a closure sled 5140 that is also movably supported on the tool mounting plate 5201. A closure tube gear segment 5114 is formed on the proximal end 5112 of the outer closure tube 5110 for meshing engagement with a rotation drive assembly 5150 of the rotation transmission 5206. As can be seen in FIG. 102, the rotation drive assembly 5150, in at least one embodiment, comprises a rotation drive gear 5152 that is coupled to a corresponding first one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 5201 when the tool drive portion 5200 is coupled to the tool holder 1270. The rotation drive assembly 5150 further comprises a rotary driven gear 5154 that is rotatably supported on the tool mounting plate 5201 in meshing engagement with the closure tube gear segment 5114 and the rotation drive gear 5152. Application of a first rotary control motion from the robotic system 1000 through the tool holder 1270 and the adapter 1240 to the corresponding driven element 1304 will thereby cause rotation of the rotation drive gear 5152. Rotation of the rotation drive gear 5152 ultimately results in the rotation of the elongated shaft assembly 5108 (and the end effector 5012) about the longitudinal tool axis LT-LT (represented by arrow “R” in FIG. 151).

Closure of the anvil 5070 relative to the surgical staple cartridge 5080 is accomplished by axially moving the outer closure tube 5110 in the distal direction “DD”. Such axial movement of the outer closure tube 5110 may be accomplished by a closure transmission portion 5144 of the transmission arrangement 5204. As indicated above, in various embodiments, the proximal end 5112 of the outer closure tube 5110 is supported by the closure sled 5140 which enables the proximal end 5112 to rotate relative thereto, yet travel axially with the closure sled 5140. In particular, as can be seen in FIG. 151, the closure sled 5140 has an upstanding tab 5141 that extends into a radial groove 5115 in the proximal end portion 5112 of the outer closure tube 5110. In addition, as was described above, the closure sled 5140 is slidably mounted to the tool mounting plate 5201. In various embodiments, the closure sled 5140 has an upstanding portion 5142 that has a closure rack gear 5143 formed thereon. The closure rack gear 5143 is configured for driving engagement with the closure transmission 5144.

In various forms, the closure transmission 5144 includes a closure spur gear 5145 that is coupled to a corresponding second one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 5201. Thus, application of a second rotary control motion from the robotic system 1000 through the tool holder 1270 and the adapter 1240 to the corresponding second driven element 1304 will cause rotation of the closure spur gear 5145 when the interface 1230 is coupled to the tool mounting portion 5200. The closure transmission 5144 further includes a driven closure gear set 5146 that is supported in meshing engagement with the closure spur gear 5145 and the closure rack gear 5143. Thus, application of a second rotary control motion from the robotic system 1000 through the tool holder 1270 and the adapter 1240 to the corresponding second driven element 1304 will cause rotation of the closure spur gear 5145 and ultimately drive the closure sled 5140 and the outer closure tube 5110 axially. The axial direction in which the closure tube 5110 moves ultimately depends upon the direction in which the second driven element 1304 is rotated. For example, in response to one rotary closure motion received from the robotic system 1000, the closure sled 5140 will be driven in the distal direction “DD” and ultimately the outer closure tube 5110 will be driven in the distal direction as well. The outer closure tube 5110 has an opening 5117 in the distal end 5116 that is configured for engagement with a tab 5071 on the anvil 5070 in the manners described above. As the outer closure tube 5110 is driven distally, the proximal end 5116 of the closure tube 5110 will contact the anvil 5070 and pivot it closed. Upon application of an “opening” rotary motion from the robotic system 1000, the closure sled 5140 and outer closure tube 5110 will be driven in the proximal direction “PD” and pivot the anvil 5070 to the open position in the manners described above.

In at least one embodiment, the drive shaft 5130 has a proximal end 5137 that has a proximal shaft gear 5138 attached thereto. The proximal shaft gear 5138 is supported in meshing engagement with a distal drive gear 5162 attached to a rotary drive bar 5160 that is rotatably supported with spine member 5120. Rotation of the rotary drive bar 5160 and ultimately rotary drive shaft 5130 is controlled by a rotary knife transmission 5207 which comprises a portion of the transmission arrangement 5204 supported on the tool mounting plate 5210. In various embodiments, the rotary knife transmission 5207 comprises a rotary knife drive system 5170 that is operably supported on the tool mounting plate 5201. In various embodiments, the knife drive system 5170 includes a rotary drive gear 5172 that is coupled to a corresponding third one of the driven discs or elements 1304 on the adapter side of the tool mounting plate 5201 when the tool drive portion 5200 is coupled to the tool holder 1270. The knife drive system 5170 further comprises a first rotary driven gear 5174 that is rotatably supported on the tool mounting plate 5201 in meshing engagement with a second rotary driven gear 5176 and the rotary drive gear 5172. The second rotary driven gear 5176 is coupled to a proximal end portion 5164 of the rotary drive bar 5160.

Rotation of the rotary drive gear 5172 in a first rotary direction will result in the rotation of the rotary drive bar 5160 and rotary drive shaft 5130 in a first direction. Conversely, rotation of the rotary drive gear 5172 in a second rotary direction (opposite to the first rotary direction) will cause the rotary drive bar 5160 and rotary drive shaft 5130 to rotate in a second direction. 2400. Thus, rotation of the drive shaft 2440 results in rotation of the drive sleeve 2400.

One method of operating the surgical tool 5000 will now be described. The tool drive 5200 is operably coupled to the interface 1240 of the robotic system 1000. The controller 1001 of the robotic system 1000 is operated to locate the tissue to be cut and stapled between the open anvil 5070 and the surgical staple cartridge 5080. Once the surgical end effector 5012 has been positioned by the robot system 1000 such that the target tissue is located between the anvil 5070 and the surgical staple cartridge 5080, the controller 1001 of the robotic system 1000 may be activated to apply the second rotary output motion to the second driven element 1304 coupled to the closure spur gear 5145 to drive the closure sled 5140 and the outer closure tube 5110 axially in the distal direction to pivot the anvil 5070 closed in the manner described above. Once the robotic controller 1001 determines that the anvil 5070 has been closed by, for example, sensors in the surgical end effector 5012 and/or the tool drive portion 5200, the robotic controller 1001 system may provide the surgeon with an indication that signifies the closure of the anvil. Such indication may be, for example, in the form of a light and/or audible sound, tactile feedback on the control members, etc. Then the surgeon may initiate the firing process. In alternative embodiments, however, the robotic controller 1001 may automatically commence the firing process.

To commence the firing process, the robotic controller applies a third rotary output motion to the third driven disc or element 1304 coupled to the rotary drive gear 5172. Rotation of the rotary drive gear 5172 results in the rotation of the rotary drive bar 5160 and rotary drive shaft 5130 in the manner described above. Firing and formation of the surgical staples 5098 can be best understood from reference to FIGS. 152, 154, and 155. As the sled assembly 5030 is driven in the distal direction “DD” through the surgical staple cartridge 5080, the distal wedge segments 5060 first contact the staple pushers 5088 and start to move them toward the closed anvil 5070. As the sled assembly 5030 continues to move distally, the outboard drivers 5052 will drop into the corresponding activation cavity 5026 in the channel pan 5022. The opposite end of each outboard driver 5052 will then contact the corresponding outboard pusher 5088 that has moved up the distal and intermediate wedge segments 5060, 5062. Further distal movement of the sled assembly 5030 causes the outboard drivers 5052 to rotate and drive the corresponding pushers 5088 toward the anvil 5070 to cause the staples 5098 supported thereon to be formed as they are driven into the anvil 5070. It will be understood that as the sled assembly 5030 moves distally, the knife blade 5040 cuts through the tissue that is clamped between the anvil and the staple cartridge. Because the inboard drivers 5054 and outboard drivers 5052 are attached to the same shaft 5056 and the inboard drivers 5054 are radially offset from the outboard drivers 5052 on the shaft 5056, as the outboard drivers 5052 are driving their corresponding pushers 5088 toward the anvil 5070, the inboard drivers 5054 drop into their next corresponding activation cavity 5028 to cause them to rotatably or reciprocatingly drive the corresponding inboard pushers 5088 towards the closed anvil 5070 in the same manner. Thus, the laterally corresponding outboard staples 5098 on each side of the centrally disposed slot 5084 are simultaneously formed together and the laterally corresponding inboard staples 5098 on each side of the slot 5084 are simultaneously formed together as the sled assembly 5030 is driven distally. Once the robotic controller 1001 determines that the sled assembly 5030 has reached its distal most position—either through sensors or through monitoring the amount of rotary input applied to the drive shaft 5130 and/or the rotary drive bar 5160, the controller 1001 may then apply a third rotary output motion to the drive shaft 5130 to rotate the drive shaft 5130 in an opposite direction to retract the sled assembly 5030 back to its starting position. Once the sled assembly 5030 has been retracted to the starting position (as signaled by sensors in the end effector 5012 and/or the tool drive portion 5200), the application of the second rotary motion to the drive shaft 5130 is discontinued. Thereafter, the surgeon may manually activate the anvil opening process or it may be automatically commenced by the robotic controller 1001. To open the anvil 5070, the second rotary output motion is applied to the closure spur gear 5145 to drive the closure sled 5140 and the outer closure tube 5110 axially in the proximal direction. As the closure tube 5110 moves proximally, the opening 5117 in the distal end 5116 of the closure tube 5110 contacts the tab 5071 on the anvil 5070 to pivot the anvil 5070 to the open position. A spring may also be employed to bias the anvil 5070 to the open position when the closure tube 5116 has been returned to the starting position. Again, sensors in the surgical end effector 5012 and/or the tool mounting portion 5200 may provide the robotic controller 1001 with a signal indicating that the anvil 5070 is now open. Thereafter, the surgical end effector 5012 may be withdrawn from the surgical site.

FIGS. 158-163 diagrammatically depict the sequential firing of staples in a surgical tool assembly 5000′ that is substantially similar to the surgical tool assembly 5000 described above. In this embodiment, the inboard and outboard drivers 5052′, 5054′ have a cam-like shape with a cam surface 5053 and an actuator protrusion 5055 as shown in FIGS. 109-115. The drivers 5052′, 5054′ are journaled on the same shaft 5056′ that is rotatably supported by the sled assembly 5030′. In this embodiment, the sled assembly 5030′ has distal wedge segments 5060′ for engaging the pushers 5088. FIG. 158 illustrates an initial position of two inboard or outboard drivers 5052′, 5054′ as the sled assembly 5030′ is driven in the distal direction “DD”. As can be seen in that Figure, the pusher 5088a has advanced up the wedge segment 5060′ and has contacted the driver 5052′, 5054′. Further travel of the sled assembly 5030′ in the distal direction causes the driver 5052′, 5054′ to pivot in the “P” direction (FIG. 159) until the actuator portion 5055 contacts the end wall 5029a of the activation cavity 5026, 5028 as shown in FIG. 160. Continued advancement of the sled assembly 5030′ in the distal direction “DD” causes the driver 5052′, 5054′ to rotate in the “D” direction as shown in FIG. 161. As the driver 5052′, 5054′ rotates, the pusher 5088a rides up the cam surface 5053 to the final vertical position shown in FIG. 162. When the pusher 5088a reaches the final vertical position shown in FIGS. 162 and 163, the staple (not shown) supported thereon has been driven into the staple forming surface of the anvil to form the staple.

FIGS. 165-170 illustrate a surgical end effector 5312 that may be employed for example, in connection with the tool mounting portion 1300 and shaft 2008 described in detail above. In various forms, the surgical end effector 5312 includes an elongated channel 5322 that is constructed as described above for supporting a surgical staple cartridge 5330 therein. The surgical staple cartridge 5330 comprises a body portion 5332 that includes a centrally disposed slot 5334 for accommodating an upstanding support portion 5386 of a sled assembly 5380. See FIGS. 165-167. The surgical staple cartridge body portion 5332 further includes a plurality of cavities 5336 for movably supporting staple-supporting pushers 5350 therein. The cavities 5336 may be arranged in spaced longitudinally extending rows 5340, 5342, 5344, 5346. The rows 5340, 5342 are located on one lateral side of the longitudinal slot 5334 and the rows 5344, 5346 are located on the other side of longitudinal slot 5334. In at least one embodiment, the pushers 5350 are configured to support two surgical staples 5352 thereon. In particular, each pusher 5350 located on one side of the elongated slot 5334 supports one staple 5352 in row 5340 and one staple 5352 in row 5342 in a staggered orientation. Likewise, each pusher 5350 located on the other side of the elongated slot 5334 supports one surgical staple 5352 in row 5344 and another surgical staple 5352 in row 5346 in a staggered orientation. Thus, every pusher 5350 supports two surgical staples 5352.

As can be further seen in FIGS. 165, 166, the surgical staple cartridge 5330 includes a plurality of rotary drivers 5360. More particularly, the rotary drivers 5360 on one side of the elongated slot 5334 are arranged in a single line 5370 and correspond to the pushers 5350 in lines 5340, 5342. In addition, the rotary drivers 5360 on the other side of the elongated slot 5334 are arranged in a single line 5372 and correspond to the pushers 5350 in lines 5344, 5346. As can be seen in FIG. 165, each rotary driver 5360 is rotatably supported within the staple cartridge body 5332. More particularly, each rotary driver 5360 is rotatably received on a corresponding driver shaft 5362. Each driver 5360 has an arcuate ramp portion 5364 formed thereon that is configured to engage an arcuate lower surface 5354 formed on each pusher 5350. See FIG. 170. In addition, each driver 5360 has a lower support portion 5366 extend therefrom to slidably support the pusher 5360 on the channel 5322. Each driver 5360 has a downwardly extending actuation rod 5368 that is configured for engagement with a sled assembly 5380.

As can be seen in FIG. 167, in at least one embodiment, the sled assembly 5380 includes a base portion 5382 that has a foot portion 5384 that is sized to be slidably received in a slot 5333 in the channel 5322. See FIG. 165. The sled assembly 5380 includes an upstanding support portion 5386 that supports a tissue cutting blade or tissue cutting instrument 5388. The upstanding support portion 5386 terminates in a top portion 5390 that has a pair of laterally extending retaining fins 5392 protruding therefrom. The fins 5392 are positioned to be received within corresponding slots (not shown) in the anvil (not shown). As with the above-described embodiments, the fins 5392 and the foot portion 5384 serve to retain the anvil (not shown) in a desired spaced closed position as the sled assembly 5380 is driven distally through the tissue clamped within the surgical end effector 5312. The upstanding support portion 5386 is configured for attachment to a knife bar 2200 (FIG. 86). The sled assembly 5380 further has a horizontally-extending actuator plate 5394 that is shaped for actuating engagement with each of the actuation rods 5368 on the pushers 5360.

Operation of the surgical end effector 5312 will now be explained with reference to FIGS. 165 and 166. As the sled assembly 5380 is driven in the distal direction “DD” through the staple cartridge 5330, the actuator plate 5394 sequentially contacts the actuation rods 5368 on the pushers 5360. As the sled assembly 5380 continues to move distally, the actuator plate 5394 sequentially contacts the actuator rods 5368 of the drivers 5360 on each side of the elongated slot 5334. Such action causes the drivers 5360 to rotate from a first unactuated position to an actuated portion wherein the pushers 5350 are driven towards the closed anvil. As the pushers 5350 are driven toward the anvil, the surgical staples 5352 thereon are driven into forming contact with the underside of the anvil. Once the robotic system 1000 determines that the sled assembly 5080 has reached its distal most position through sensors or other means, the control system of the robotic system 1000 may then retract the knife bar and sled assembly 5380 back to the starting position. Thereafter, the robotic control system may then activate the procedure for returning the anvil to the open position to release the stapled tissue.

FIGS. 171-175 depict one form of an automated reloading system embodiment of the present invention, generally designated as 5500. In one form, the automated reloading system 5500 is configured to replace a “spent” surgical end effector component in a manipulatable surgical tool portion of a robotic surgical system with a “new” surgical end effector component. As used herein, the term “surgical end effector component” may comprise, for example, a surgical staple cartridge, a disposable loading unit or other end effector components that, when used, are spent and must be replaced with a new component. Furthermore, the term “spent” means that the end effector component has been activated and is no longer useable for its intended purpose in its present state. For example, in the context of a surgical staple cartridge or disposable loading unit, the term “spent” means that at least some of the unformed staples that were previously supported therein have been “fired” therefrom. As used herein, the term “new” surgical end effector component refers to an end effector component that is in condition for its intended use. In the context of a surgical staple cartridge or disposable loading unit, for example, the term “new” refers to such a component that has unformed staples therein and which is otherwise ready for use.

In various embodiments, the automated reloading system 5500 includes a base portion 5502 that may be strategically located within a work envelope 1109 of a robotic arm cart 1100 (FIG. 72) of a robotic system 1000. As used herein, the term “manipulatable surgical tool portion” collectively refers to a surgical tool of the various types disclosed herein and other forms of surgical robotically-actuated tools that are operably attached to, for example, a robotic arm cart 1100 or similar device that is configured to automatically manipulate and actuate the surgical tool. The term “work envelope” as used herein refers to the range of movement of the manipulatable surgical tool portion of the robotic system. FIG. 72 generally depicts an area that may comprise a work envelope of the robotic arm cart 1100. Those of ordinary skill in the art will understand that the shape and size of the work envelope depicted therein is merely illustrative. The ultimate size, shape and location of a work envelope will ultimately depend upon the construction, range of travel limitations, and location of the manipulatable surgical tool portion. Thus, the term “work envelope” as used herein is intended to cover a variety of different sizes and shapes of work envelopes and should not be limited to the specific size and shape of the sample work envelope depicted in FIG. 72.

As can be seen in FIG. 172, the base portion 5502 includes a new component support section or arrangement 5510 that is configured to operably support at least one new surgical end effector component in a “loading orientation”. As used herein, the term “loading orientation” means that the new end effector component is supported in such away so as to permit the corresponding component support portion of the manipulatable surgical tool portion to be brought into loading engagement with (i.e., operably seated or operably attached to) the new end effector component (or the new end effector component to be brought into loading engagement with the corresponding component support portion of the manipulatable surgical tool portion) without human intervention beyond that which may be necessary to actuate the robotic system. As will be further appreciated as the present Detailed Description proceeds, in at least one embodiment, the preparation nurse will load the new component support section before the surgery with the appropriate length and color cartridges (some surgical staple cartridges may support certain sizes of staples the size of which may be indicated by the color of the cartridge body) required for completing the surgical procedure. However, no direct human interaction is necessary during the surgery to reload the robotic endocutter. In one form, the surgical end effector component comprises a staple cartridge 2034 that is configured to be operably seated within a component support portion (elongated channel) of any of the various other end effector arrangements described above. For explanation purposes, new (unused) cartridges will be designated as “2034a” and spent cartridges will be designated as “2034b”. The Figures depict cartridges 2034a, 2034b designed for use with a surgical end effector 2012 that includes a channel 2022 and an anvil 2024, the construction and operation of which were discussed in detail above. Cartridges 2034a, 2034b are identical to cartridges 2034 described above. In various embodiments, the cartridges 2034a, 2034b are configured to be snappingly retained (i.e., loading engagement) within the channel 2022 of a surgical end effector 2012. As the present Detailed Description proceeds, however, those of ordinary skill in the art will appreciate that the unique and novel features of the automated cartridge reloading system 5500 may be effectively employed in connection with the automated removal and installation of other cartridge arrangements without departing from the spirit and scope of the present invention.

In the depicted embodiment, the term “loading orientation” means that the distal tip portion 2035a of the a new surgical staple cartridge 2034a is inserted into a corresponding support cavity 5512 in the new cartridge support section 5510 such that the proximal end portion 2037a of the new surgical staple cartridge 2034a is located in a convenient orientation for enabling the arm cart 1100 to manipulate the surgical end effector 2012 into a position wherein the new cartridge 2034a may be automatically loaded into the channel 2022 of the surgical end effector 2012. In various embodiments, the base 5502 includes at least one sensor 5504 which communicates with the control system 1003 of the robotic controller 1001 to provide the control system 1003 with the location of the base 5502 and/or the reload length and color doe each staged or new cartridge 2034a.

As can also be seen in the Figures, the base 5502 further includes a collection receptacle 5520 that is configured to collect spent cartridges 2034b that have been removed or disengaged from the surgical end effector 2012 that is operably attached to the robotic system 1000. In addition, in one form, the automated reloading system 5500 includes an extraction system 5530 for automatically removing the spent end effector component from the corresponding support portion of the end effector or manipulatable surgical tool portion without specific human intervention beyond that which may be necessary to activate the robotic system. In various embodiments, the extraction system 5530 includes an extraction hook member 5532. In one form, for example, the extraction hook member 5532 is rigidly supported on the base portion 5502. In one embodiment, the extraction hook member has at least one hook 5534 formed thereon that is configured to hookingly engage the distal end 2035 of a spent cartridge 2034b when it is supported in the elongated channel 2022 of the surgical end effector 2012. In various forms, the extraction hook member 5532 is conveniently located within a portion of the collection receptacle 5520 such that when the spent end effector component (cartridge 2034b) is brought into extractive engagement with the extraction hook member 5532, the spent end effector component (cartridge 2034b) is dislodged from the corresponding component support portion (elongated channel 2022), and falls into the collection receptacle 5020. Thus, to use this embodiment, the manipulatable surgical tool portion manipulates the end effector attached thereto to bring the distal end 2035 of the spent cartridge 2034b therein into hooking engagement with the hook 5534 and then moves the end effector in such a way to dislodge the spent cartridge 2034b from the elongated channel 2022.

In other arrangements, the extraction hook member 5532 comprises a rotatable wheel configuration that has a pair of diametrically-opposed hooks 5334 protruding therefrom. See FIGS. 171 and 174. The extraction hook member 5532 is rotatably supported within the collection receptacle 5520 and is coupled to an extraction motor 5540 that is controlled by the controller 1001 of the robotic system. This form of the automated reloading system 5500 may be used as follows. FIG. 173 illustrates the introduction of the surgical end effector 2012 that is operably attached to the manipulatable surgical tool portion 1200. As can be seen in that Figure, the arm cart 1100 of the robotic system 1000 locates the surgical end effector 2012 in the shown position wherein the hook end 5534 of the extraction member 5532 hookingly engages the distal end 2035 of the spent cartridge 2034b in the surgical end effector 2012. The anvil 2024 of the surgical end effector 2012 is in the open position. After the distal end 2035 of the spent cartridge 2034b is engaged with the hook end 5532, the extraction motor 5540 is actuated to rotate the extraction wheel 5532 to disengage the spent cartridge 2034b from the channel 2022. To assist with the disengagement of the spent cartridge 2034b from the channel 2022 (or if the extraction member 5530 is stationary), the robotic system 1000 may move the surgical end effector 2012 in an upward direction (arrow “U” in FIG. 174). As the spent cartridge 2034b is dislodged from the channel 2022, the spent cartridge 2034b falls into the collection receptacle 5520. Once the spent cartridge 2034b has been removed from the surgical end effector 2012, the robotic system 1000 moves the surgical end effector 2012 to the position shown in FIG. 175.

In various embodiments, a sensor arrangement 5533 is located adjacent to the extraction member 5532 that is in communication with the controller 1001 of the robotic system 1000. The sensor arrangement 5533 may comprise a sensor that is configured to sense the presence of the surgical end effector 2012 and, more particularly the tip 2035b of the spent surgical staple cartridge 2034b thereof as the distal tip portion 2035b is brought into engagement with the extraction member 5532. In some embodiments, the sensor arrangement 5533 may comprise, for example, a light curtain arrangement. However, other forms of proximity sensors may be employed. In such arrangement, when the surgical end effector 2012 with the spent surgical staple cartridge 2034b is brought into extractive engagement with the extraction member 5532, the sensor senses the distal tip 2035b of the surgical staple cartridge 2034b (e.g., the light curtain is broken). When the extraction member 5532 spins and pops the surgical staple cartridge 2034b loose and it falls into the collection receptacle 5520, the light curtain is again unbroken. Because the surgical end effector 2012 was not moved during this procedure, the robotic controller 1001 is assured that the spent surgical staple cartridge 2034b has been removed therefrom. Other sensor arrangements may also be successfully employed to provide the robotic controller 1001 with an indication that the spent surgical staple cartridge 2034b has been removed from the surgical end effector 2012.

As can be seen in FIG. 175, the surgical end effector 2012 is positioned to grasp a new surgical staple cartridge 2034a between the channel 2022 and the anvil 2024. More specifically, as shown in FIGS. 172 and 175, each cavity 5512 has a corresponding upstanding pressure pad 5514 associated with it. The surgical end effector 2012 is located such that the pressure pad 5514 is located between the new cartridge 2034a and the anvil 2024. Once in that position, the robotic system 1000 closes the anvil 2024 onto the pressure pad 5514 which serves to push the new cartridge 2034a into snapping engagement with the channel 2022 of the surgical end effector 2012. Once the new cartridge 2034a has been snapped into position within the elongated channel 2022, the robotic system 1000 then withdraws the surgical end effector 2012 from the automated cartridge reloading system 5500 for use in connection with performing another surgical procedure.

FIGS. 176-180 depict another automated reloading system 5600 that may be used to remove a spent disposable loading unit 3612 from a manipulatable surgical tool arrangement 3600 (FIGS. 123-136) that is operably attached to an arm cart 1100 or other portion of a robotic system 1000 and reload a new disposable loading unit 3612 therein. As can be seen in FIGS. 176 and 177, one form of the automated reloading system 5600 includes a housing 5610 that has a movable support assembly in the form of a rotary carrousel top plate 5620 supported thereon which cooperates with the housing 5610 to form a hollow enclosed area 5612. The automated reloading system 5600 is configured to be operably supported within the work envelop of the manipulatable surgical tool portion of a robotic system as was described above. In various embodiments, the rotary carrousel plate 5620 has a plurality of holes 5622 for supporting a plurality of orientation tubes 5660 therein. As can be seen in FIGS. 177 and 178, the rotary carrousel plate 5620 is affixed to a spindle shaft 5624. The spindle shaft 5624 is centrally disposed within the enclosed area 5612 and has a spindle gear 5626 attached thereto. The spindle gear 5626 is in meshing engagement with a carrousel drive gear 5628 that is coupled to a carrousel drive motor 5630 that is in operative communication with the robotic controller 1001 of the robotic system 1000.

Various embodiments of the automated reloading system 5600 may also include a carrousel locking assembly, generally designated as 5640. In various forms, the carrousel locking assembly 5640 includes a cam disc 5642 that is affixed to the spindle shaft 5624. The spindle gear 5626 may be attached to the underside of the cam disc 5642 and the cam disc 5642 may be keyed onto the spindle shaft 5624. In alternative arrangements, the spindle gear 5626 and the cam disc 5642 may be independently non-rotatably affixed to the spindle shaft 5624. As can be seen in FIGS. 177 and 178, a plurality of notches 5644 are spaced around the perimeter of the cam disc 5642. A locking arm 5648 is pivotally mounted within the housing 5610 and is biased into engagement with the perimeter of the cam disc 5642 by a locking spring 5649. As can be seen in FIG. 176, the outer perimeter of the cam disc 5642 is rounded to facilitate rotation of the cam disc 5642 relative to the locking arm 5648. The edges of each notch 5644 are also rounded such that when the cam disc 5642 is rotated, the locking arm 5648 is cammed out of engagement with the notches 5644 by the perimeter of the cam disc 5642.

Various forms of the automated reloading system 5600 are configured to support a portable/replaceable tray assembly 5650 that is configured to support a plurality of disposable loading units 3612 in individual orientation tubes 5660. More specifically and with reference to FIGS. 177 and 178, the replaceable tray assembly 5650 comprises a tray 5652 that has a centrally-disposed locator spindle 5654 protruding from the underside thereof. The locator spindle 5654 is sized to be received within a hollow end 5625 of spindle shaft 5624. The tray 5652 has a plurality of holes 5656 therein that are configured to support an orientation tube 5660 therein. Each orientation tube 5660 is oriented within a corresponding hole 5656 in the replaceable tray assembly 5650 in a desired orientation by a locating fin 5666 on the orientation tube 5660 that is designed to be received within a corresponding locating slot 5658 in the tray assembly 5650. In at least one embodiment, the locating fin 5666 has a substantially V-shaped cross-sectional shape that is sized to fit within a V-shaped locating slot 5658. Such arrangement serves to orient the orientation tube 5660 in a desired starting position while enabling it to rotate within the hole 5656 when a rotary motion is applied thereto. That is, when a rotary motion is applied to the orientation tube 5660 the V-shaped locating fin 5666 will pop out of its corresponding locating slot enabling the tube 5660 to rotate relative to the tray 5652 as will be discussed in further detail below. As can also be seen in FIGS. 176-178, the replaceable tray 5652 may be provided with one or more handle portions 5653 to facilitate transport of the tray assembly 5652 when loaded with orientation tubes 5660.

As can be seen in FIG. 180, each orientation tube 5660 comprises a body portion 5662 that has a flanged open end 5664. The body portion 5662 defines a cavity 5668 that is sized to receive a portion of a disposable loading unit 3612 therein. To properly orient the disposable loading unit 3612 within the orientation tube 5660, the cavity 5668 has a flat locating surface 5670 formed therein. As can be seen in FIG. 180, the flat locating surface 5670 is configured to facilitate the insertion of the disposable loading unit into the cavity 5668 in a desired or predetermined non-rotatable orientation. In addition, the end 5669 of the cavity 5668 may include a foam or cushion material 5672 that is designed to cushion the distal end of the disposable loading unit 3612 within the cavity 5668. Also, the length of the locating surface may cooperate with a sliding support member 3689 of the axial drive assembly 3680 of the disposable loading unit 3612 to further locate the disposable loading unit 3612 at a desired position within the orientation tube 5660.

The orientation tubes 5660 may be fabricated from Nylon, polycarbonate, polyethylene, liquid crystal polymer, 6061 or 7075 aluminum, titanium, 300 or 400 series stainless steel, coated or painted steel, plated steel, etc. and, when loaded in the replaceable tray 5662 and the locator spindle 5654 is inserted into the hollow end 5625 of spindle shaft 5624, the orientation tubes 5660 extend through corresponding holes 5662 in the carrousel top plate 5620. Each replaceable tray 5662 is equipped with a location sensor 5663 that communicates with the control system 1003 of the controller 1001 of the robotic system 1000. The sensor 5663 serves to identify the location of the reload system, and the number, length, color and fired status of each reload housed in the tray. In addition, an optical sensor or sensors 5665 that communicate with the robotic controller 1001 may be employed to sense the type/size/length of disposable loading units that are loaded within the tray 5662.

Various embodiments of the automated reloading system 5600 further include a drive assembly 5680 for applying a rotary motion to the orientation tube 5660 holding the disposable loading unit 3612 to be attached to the shaft 3700 of the surgical tool 3600 (collectively the “manipulatable surgical tool portion”) that is operably coupled to the robotic system. The drive assembly 5680 includes a support yoke 5682 that is attached to the locking arm 5648. Thus, the support yoke 5682 pivots with the locking arm 5648. The support yoke 5682 rotatably supports a tube idler wheel 5684 and a tube drive wheel 5686 that is driven by a tube motor 5688 attached thereto. Tube motor 5688 communicates with the control system 1003 and is controlled thereby. The tube idler wheel 5684 and tube drive wheel 5686 are fabricated from, for example, natural rubber, sanoprene, isoplast, etc. such that the outer surfaces thereof create sufficient amount of friction to result in the rotation of an orientation tube 5660 in contact therewith upon activation of the tube motor 5688. The idler wheel 5684 and tube drive wheel 5686 are oriented relative to each other to create a cradle area 5687 therebetween for receiving an orientation tube 5060 in driving engagement therein.

In use, one or more of the orientation tubes 5660 loaded in the automated reloading system 5600 are left empty, while the other orientation tubes 5660 may operably support a corresponding new disposable loading unit 3612 therein. As will be discussed in further detail below, the empty orientation tubes 5660 are employed to receive a spent disposable loading unit 3612 therein.

The automated reloading system 5600 may be employed as follows after the system 5600 is located within the work envelope of the manipulatable surgical tool portion of a robotic system. If the manipulatable surgical tool portion has a spent disposable loading unit 3612 operably coupled thereto, one of the orientation tubes 5660 that are supported on the replaceable tray 5662 is left empty to receive the spent disposable loading unit 3612 therein. If, however, the manipulatable surgical tool portion does not have a disposable loading unit 3612 operably coupled thereto, each of the orientation tubes 5660 may be provided with a properly oriented new disposable loading unit 3612.

As described hereinabove, the disposable loading unit 3612 employs a rotary “bayonet-type” coupling arrangement for operably coupling the disposable loading unit 3612 to a corresponding portion of the manipulatable surgical tool portion. That is, to attach a disposable loading unit 3612 to the corresponding portion of the manipulatable surgical tool portion (3700—see FIGS. 129, 130), a rotary installation motion must be applied to the disposable loading unit 3612 and/or the corresponding portion of the manipulatable surgical tool portion when those components have been moved into loading engagement with each other. Such installation motions are collectively referred to herein as “loading motions”. Likewise, to decouple a spent disposable loading unit 3612 from the corresponding portion of the manipulatable surgical tool, a rotary decoupling motion must be applied to the spent disposable loading unit 3612 and/or the corresponding portion of the manipulatable surgical tool portion while simultaneously moving the spent disposable loading unit and the corresponding portion of the manipulatable surgical tool away from each other. Such decoupling motions are collectively referred to herein as “extraction motions”.

To commence the loading process, the robotic system 1000 is activated to manipulate the manipulatable surgical tool portion and/or the automated reloading system 5600 to bring the manipulatable surgical tool portion into loading engagement with the new disposable loading unit 3612 that is supported in the orientation tube 5660 that is in driving engagement with the drive assembly 5680. Once the robotic controller 1001 (FIG. 71) of the robotic control system 1000 has located the manipulatable surgical tool portion in loading engagement with the new disposable loading unit 3612, the robotic controller 1001 activates the drive assembly 5680 to apply a rotary loading motion to the orientation tube 5660 in which the new disposable loading unit 3612 is supported and/or applies another rotary loading motion to the corresponding portion of the manipulatable surgical tool portion. Upon application of such rotary loading motions(s), the robotic controller 1001 also causes the corresponding portion of the manipulatable surgical tool portion to be moved towards the new disposable loading unit 3612 into loading engagement therewith. Once the disposable loading unit 3612 is in loading engagement with the corresponding portion of the manipulatable tool portion, the loading motions are discontinued and the manipulatable surgical tool portion may be moved away from the automated reloading system 5600 carrying with it the new disposable loading unit 3612 that has been operably coupled thereto.

To decouple a spent disposable loading unit 3612 from a corresponding manipulatable surgical tool portion, the robotic controller 1001 of the robotic system manipulates the manipulatable surgical tool portion so as to insert the distal end of the spent disposable loading unit 3612 into the empty orientation tube 5660 that remains in driving engagement with the drive assembly 5680. Thereafter, the robotic controller 1001 activates the drive assembly 5680 to apply a rotary extraction motion to the orientation tube 5660 in which the spent disposable loading unit 3612 is supported and/or applies a rotary extraction motion to the corresponding portion of the manipulatable surgical tool portion. The robotic controller 1001 also causes the manipulatable surgical tool portion to withdraw away from the spent rotary disposable loading unit 3612. Thereafter the rotary extraction motion(s) are discontinued.

After the spent disposable loading unit 3612 has been removed from the manipulatable surgical tool portion, the robotic controller 1001 may activate the carrousel drive motor 5630 to index the carrousel top plate 5620 to bring another orientation tube 5660 that supports a new disposable loading unit 3612 therein into driving engagement with the drive assembly 5680. Thereafter, the loading process may be repeated to attach the new disposable loading unit 3612 therein to the portion of the manipulatable surgical tool portion. The robotic controller 1001 may record the number of disposable loading units that have been used from a particular replaceable tray 5652. Once the controller 1001 determines that all of the new disposable loading units 3612 have been used from that tray, the controller 1001 may provide the surgeon with a signal (visual and/or audible) indicating that the tray 5652 supporting all of the spent disposable loading units 3612 must be replaced with a new tray 5652 containing new disposable loading units 3612.

FIGS. 181-186 depict another non-limiting embodiment of a surgical tool 6000 of the present invention that is well-adapted for use with a robotic system 1000 that has a tool drive assembly 1010 (FIG. 76) that is operatively coupled to a master controller 1001 that is operable by inputs from an operator (i.e., a surgeon). As can be seen in FIG. 181, the surgical tool 6000 includes a surgical end effector 6012 that comprises an endocutter. In at least one form, the surgical tool 6000 generally includes an elongated shaft assembly 6008 that has a proximal closure tube 6040 and a distal closure tube 6042 that are coupled together by an articulation joint 6100. The surgical tool 6000 is operably coupled to the manipulator by a tool mounting portion, generally designated as 6200. The surgical tool 6000 further includes an interface 6030 which may mechanically and electrically couple the tool mounting portion 6200 to the manipulator in the various manners described in detail above.

In at least one embodiment, the surgical tool 6000 includes a surgical end effector 6012 that comprises, among other things, at least one component 6024 that is selectively movable between first and second positions relative to at least one other component 6022 in response to various control motions applied to component 6024 as will be discussed in further detail below to perform a surgical procedure. In various embodiments, component 6022 comprises an elongated channel 6022 configured to operably support a surgical staple cartridge 6034 therein and component 6024 comprises a pivotally translatable clamping member, such as an anvil 6024. Various embodiments of the surgical end effector 6012 are configured to maintain the anvil 6024 and elongated channel 6022 at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 6012. Unless otherwise stated, the end effector 6012 is similar to the surgical end effector 2012 described above and includes a cutting instrument (not shown) and a sled (not shown). The anvil 6024 may include a tab 6027 at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil 6024. The elongated channel 6022 and the anvil 6024 may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge 6034 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 6034, as was also described above.

As can be seen in FIG. 181, the surgical end effector 6012 is attached to the tool mounting portion 6200 by the elongated shaft assembly 6008 according to various embodiments. As shown in the illustrated embodiment, the elongated shaft assembly 6008 includes an articulation joint generally designated as 6100 that enables the surgical end effector 6012 to be selectively articulated about a first tool articulation axis AA1-AA1 that is substantially transverse to a longitudinal tool axis LT-LT and a second tool articulation axis AA2-AA2 that is substantially transverse to the longitudinal tool axis LT-LT as well as the first articulation axis AA1-AA1. See FIG. 182. In various embodiments, the elongated shaft assembly 6008 includes a closure tube assembly 6009 that comprises a proximal closure tube 6040 and a distal closure tube 6042 that are pivotably linked by a pivot links 6044 and 6046. The closure tube assembly 6009 is movably supported on a spine assembly generally designated as 6102.

As can be seen in FIG. 183, the proximal closure tube 6040 is pivotally linked to an intermediate closure tube joint 6043 by an upper pivot link 6044U and a lower pivot link 6044L such that the intermediate closure tube joint 6043 is pivotable relative to the proximal closure tube 6040 about a first closure axis CA1-CA1 and a second closure axis CA2-CA2. In various embodiments, the first closure axis CA1-CA1 is substantially parallel to the second closure axis CA2-CA2 and both closure axes CA1-CA1, CA2-CA2 are substantially transverse to the longitudinal tool axis LT-LT. As can be further seen in FIG. 134, the intermediate closure tube joint 6043 is pivotally linked to the distal closure tube 6042 by a left pivot link 6046L and a right pivot link 6046R such that the intermediate closure tube joint 6043 is pivotable relative to the distal closure tube 6042 about a third closure axis CA3-CA3 and a fourth closure axis CA4-CA4. In various embodiments, the third closure axis CA3-CA3 is substantially parallel to the fourth closure axis CA4-CA4 and both closure axes CA3-CA3, CA4-CA4 are substantially transverse to the first and second closure axes CA1-CA1, CA2-CA2 as well as to longitudinal tool axis LT-LT.

The closure tube assembly 6009 is configured to axially slide on the spine assembly 6102 in response to actuation motions applied thereto. The distal closure tube 6042 includes an opening 6045 which interfaces with the tab 6027 on the anvil 6024 to facilitate opening of the anvil 6024 as the distal closure tube 6042 is moved axially in the proximal direction “PD”. The closure tubes 6040, 6042 may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above. Components of the spine assembly 6102 may be made of a nonconductive material (such as plastic).

As indicated above, the surgical tool 6000 includes a tool mounting portion 6200 that is configured for operable attachment to the tool mounting assembly 1010 of the robotic system 1000 in the various manners described in detail above. As can be seen in FIG. 185, the tool mounting portion 6200 comprises a tool mounting plate 6202 that operably supports a transmission arrangement 6204 thereon. In various embodiments, the transmission arrangement 6204 includes an articulation transmission 6142 that comprises a portion of an articulation system 6140 for articulating the surgical end effector 6012 about a first tool articulation axis TA1-TA1 and a second tool articulation axis TA2-TA2. The first tool articulation axis TA1-TA1 is substantially transverse to the second tool articulation axis TA2-TA2 and both of the first and second tool articulation axes are substantially transverse to the longitudinal tool axis LT-LT. See FIG. 182.

To facilitate selective articulation of the surgical end effector 6012 about the first and second tool articulation axes TA1-TA1, TA2-TA2, the spine assembly 6102 comprises a proximal spine portion 6110 that is pivotally coupled to a distal spine portion 6120 by pivot pins 6122 for selective pivotal travel about TA1-TA1. Similarly, the distal spine portion 6120 is pivotally attached to the elongated channel 6022 of the surgical end effector 6012 by pivot pins 6124 to enable the surgical end effector 6012 to selectively pivot about the second tool axis TA2-TA2 relative to the distal spine portion 6120.

In various embodiments, the articulation system 6140 further includes a plurality of articulation elements that operably interface with the surgical end effector 6012 and an articulation control arrangement 6160 that is operably supported in the tool mounting member 6200 as will described in further detail below. In at least one embodiment, the articulation elements comprise a first pair of first articulation cables 6144 and 6146. The first articulation cables are located on a first or right side of the longitudinal tool axis. Thus, the first articulation cables are referred to herein as a right upper cable 6144 and a right lower cable 6146. The right upper cable 6144 and the right lower cable 6146 extend through corresponding passages 6147, 6148, respectively along the right side of the proximal spine portion 6110. See FIG. 186. The articulation system 6140 further includes a second pair of second articulation cables 6150, 6152. The second articulation cables are located on a second or left side of the longitudinal tool axis. Thus, the second articulation cables are referred to herein as a left upper articulation cable 6150 and a left articulation cable 6152. The left upper articulation cable 6150 and the left lower articulation cable 6152 extend through passages 6153, 6154, respectively in the proximal spine portion 6110.

As can be seen in FIG. 182, the right upper cable 6144 extends around an upper pivot joint 6123 and is attached to a left upper side of the elongated channel 6022 at a left pivot joint 6125. The right lower cable 6146 extends around a lower pivot joint 6126 and is attached to a left lower side of the elongated channel 6022 at left pivot joint 6125. The left upper cable 6150 extends around the upper pivot joint 6123 and is attached to a right upper side of the elongated channel 6022 at a right pivot joint 6127. The left lower cable 6152 extends around the lower pivot joint 6126 and is attached to a right lower side of the elongated channel 6022 at right pivot joint 6127. Thus, to pivot the surgical end effector 6012 about the first tool articulation axis TA1-TA1 to the left (arrow “L”), the right upper cable 6144 and the right lower cable 6146 must be pulled in the proximal direction “PD”. To articulate the surgical end effector 6012 to the right (arrow “R”) about the first tool articulation axis TA1-TA1, the left upper cable 6150 and the left lower cable 6152 must be pulled in the proximal direction “PD”. To articulate the surgical end effector 6012 about the second tool articulation axis TA2-TA2, in an upward direction (arrow “U”), the right upper cable 6144 and the left upper cable 6150 must be pulled in the proximal direction “PD”. To articulate the surgical end effector 6012 in the downward direction (arrow “DW”) about the second tool articulation axis TA2-TA2, the right lower cable 6146 and the left lower cable 6152 must be pulled in the proximal direction “PD”.

The proximal ends of the articulation cables 6144, 6146, 6150, 6152 are coupled to the articulation control arrangement 6160 which comprises a ball joint assembly that is a part of the articulation transmission 6142. More specifically and with reference to FIG. 137, the ball joint assembly 6160 includes a ball-shaped member 6162 that is formed on a proximal portion of the proximal spine 6110. Movably supported on the ball-shaped member 6162 is an articulation control ring 6164. As can be further seen in FIG. 186, the proximal ends of the articulation cables 6144, 6146, 6150, 6152 are coupled to the articulation control ring 6164 by corresponding ball joint arrangements 6166. The articulation control ring 6164 is controlled by an articulation drive assembly 6170. As can be most particularly seen in FIG. 186, the proximal ends of the first articulation cables 6144, 6146 are attached to the articulation control ring 6164 at corresponding spaced first points 6149, 6151 that are located on plane 6159. Likewise, the proximal ends of the second articulation cables 6150, 6152 are attached to the articulation control ring 6164 at corresponding spaced second points 6153, 6155 that are also located along plane 6159. As the present Detailed Description proceeds, those of ordinary skill in the art will appreciate that such cable attachment configuration on the articulation control ring 6164 facilitates the desired range of articulation motions as the articulation control ring 6164 is manipulated by the articulation drive assembly 6170.

In various forms, the articulation drive assembly 6170 comprises a horizontal articulation assembly generally designated as 6171. In at least one form, the horizontal articulation assembly 6171 comprises a horizontal push cable 6172 that is attached to a horizontal gear arrangement 6180. The articulation drive assembly 6170 further comprises a vertically articulation assembly generally designated as 6173. In at least one form, the vertical articulation assembly 6173 comprises a vertical push cable 6174 that is attached to a vertical gear arrangement 6190. As can be seen in FIGS. 185 and 186, the horizontal push cable 6172 extends through a support plate 6167 that is attached to the proximal spine portion 6110. The distal end of the horizontal push cable 6174 is attached to the articulation control ring 6164 by a corresponding ball/pivot joint 6168. The vertical push cable 6174 extends through the support plate 6167 and the distal end thereof is attached to the articulation control ring 6164 by a corresponding ball/pivot joint 6169.

The horizontal gear arrangement 6180 includes a horizontal driven gear 6182 that is pivotally mounted on a horizontal shaft 6181 that is attached to a proximal portion of the proximal spine portion 6110. The proximal end of the horizontal push cable 6172 is pivotally attached to the horizontal driven gear 6182 such that, as the horizontal driven gear 6172 is rotated about horizontal pivot axis HA, the horizontal push cable 6172 applies a first pivot motion to the articulation control ring 6164. Likewise, the vertical gear arrangement 6190 includes a vertical driven gear 6192 that is pivotally supported on a vertical shaft 6191 attached to the proximal portion of the proximal spine portion 6110 for pivotal travel about a vertical pivot axis VA. The proximal end of the vertical push cable 6174 is pivotally attached to the vertical driven gear 6192 such that as the vertical driven gear 6192 is rotated about vertical pivot axis VA, the vertical push cable 6174 applies a second pivot motion to the articulation control ring 6164.

The horizontal driven gear 6182 and the vertical driven gear 6192 are driven by an articulation gear train 6300 that operably interfaces with an articulation shifter assembly 6320. In at least one form, the articulation shifter assembly comprises an articulation drive gear 6322 that is coupled to a corresponding one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 6202. See FIG. 80. Thus, application of a rotary input motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding driven element 1304 will cause rotation of the articulation drive gear 6322 when the interface 1230 is coupled to the tool holder 1270. An articulation driven gear 6324 is attached to a splined shifter shaft 6330 that is rotatably supported on the tool mounting plate 6202. The articulation driven gear 6324 is in meshing engagement with the articulation drive gear 6322 as shown. Thus, rotation of the articulation drive gear 6322 will result in the rotation of the shaft 6330. In various forms, a shifter driven gear assembly 6340 is movably supported on the splined portion 6332 of the shifter shaft 6330.

In various embodiments, the shifter driven gear assembly 6340 includes a driven shifter gear 6342 that is attached to a shifter plate 6344. The shifter plate 6344 operably interfaces with a shifter solenoid assembly 6350. The shifter solenoid assembly 6350 is coupled to corresponding pins 6352 by conductors 6352. See FIG. 185. Pins 6352 are oriented to electrically communicate with slots 1258 (FIG. 79) on the tool side 1244 of the adaptor 1240. Such arrangement serves to electrically couple the shifter solenoid assembly 6350 to the robotic controller 1001. Thus, activation of the shifter solenoid 6350 will shift the shifter driven gear assembly 6340 on the splined portion 6332 of the shifter shaft 6330 as represented by arrow “S” in FIGS. 185 and 186. Various embodiments of the articulation gear train 6300 further include a horizontal gear assembly 6360 that includes a first horizontal drive gear 6362 that is mounted on a shaft 6361 that is rotatably attached to the tool mounting plate 6202. The first horizontal drive gear 6362 is supported in meshing engagement with a second horizontal drive gear 6364. As can be seen in FIG. 186, the horizontal driven gear 6182 is in meshing engagement with the distal face portion 6365 of the second horizontal driven gear 6364.

Various embodiments of the articulation gear train 6300 further include a vertical gear assembly 6370 that includes a first vertical drive gear 6372 that is mounted on a shaft 6371 that is rotatably supported on the tool mounting plate 6202. The first vertical drive gear 6372 is supported in meshing engagement with a second vertical drive gear 6374 that is concentrically supported with the second horizontal drive gear 6364. The second vertical drive gear 6374 is rotatably supported on the proximal spine portion 6110 for travel there around. The second horizontal drive gear 6364 is rotatably supported on a portion of said second vertical drive gear 6374 for independent rotatable travel thereon. As can be seen in FIG. 186, the vertical driven gear 6192 is in meshing engagement with the distal face portion 6375 of the second vertical driven gear 6374.

In various forms, the first horizontal drive gear 6362 has a first diameter and the first vertical drive gear 6372 has a second diameter. As can be seen in FIGS. 185 and 186, the shaft 6361 is not on a common axis with shaft 6371. That is, the first horizontal driven gear 6362 and the first vertical driven gear 6372 do not rotate about a common axis. Thus, when the shifter gear 6342 is positioned in a center “locking” position such that the shifter gear 6342 is in meshing engagement with both the first horizontal driven gear 6362 and the first vertical drive gear 6372, the components of the articulation system 6140 are locked in position. Thus, the shiftable shifter gear 6342 and the arrangement of first horizontal and vertical drive gears 6362, 6372 as well as the articulation shifter assembly 6320 collectively may be referred to as an articulation locking system, generally designated as 6380.

In use, the robotic controller 1001 of the robotic system 1000 may control the articulation system 6140 as follows. To articulate the end effector 6012 to the left about the first tool articulation axis TA1-TA1, the robotic controller 1001 activates the shifter solenoid assembly 6350 to bring the shifter gear 6342 into meshing engagement with the first horizontal drive gear 6362. Thereafter, the controller 1001 causes a first rotary output motion to be applied to the articulation drive gear 6322 to drive the shifter gear in a first direction to ultimately drive the horizontal driven gear 6182 in another first direction. The horizontal driven gear 6182 is driven to pivot the articulation ring 6164 on the ball-shaped portion 6162 to thereby pull right upper cable 6144 and the right lower cable 6146 in the proximal direction “PD”. To articulate the end effector 6012 to the right about the first tool articulation axis TA1-TA1, the robotic controller 1001 activates the shifter solenoid assembly 6350 to bring the shifter gear 6342 into meshing engagement with the first horizontal drive gear 6362. Thereafter, the controller 1001 causes the first rotary output motion in an opposite direction to be applied to the articulation drive gear 6322 to drive the shifter gear 6342 in a second direction to ultimately drive the horizontal driven gear 6182 in another second direction. Such actions result in the articulation control ring 6164 moving in such a manner as to pull the left upper cable 6150 and the left lower cable 6152 in the proximal direction “PD”. In various embodiments the gear ratios and frictional forces generated between the gears of the vertical gear assembly 6370 serve to prevent rotation of the vertical driven gear 6192 as the horizontal gear assembly 6360 is actuated.

To articulate the end effector 6012 in the upper direction about the second tool articulation axis TA2-TA2, the robotic controller 1001 activates the shifter solenoid assembly 6350 to bring the shifter gear 6342 into meshing engagement with the first vertical drive gear 6372. Thereafter, the controller 1001 causes the first rotary output motion to be applied to the articulation drive gear 6322 to drive the shifter gear 6342 in a first direction to ultimately drive the vertical driven gear 6192 in another first direction. The vertical driven gear 6192 is driven to pivot the articulation ring 6164 on the ball-shaped portion 6162 of the proximal spine portion 6110 to thereby pull right upper cable 6144 and the left upper cable 6150 in the proximal direction “PD”. To articulate the end effector 6012 in the downward direction about the second tool articulation axis TA2-TA2, the robotic controller 1001 activates the shifter solenoid assembly 6350 to bring the shifter gear 6342 into meshing engagement with the first vertical drive gear 6372. Thereafter, the controller 1001 causes the first rotary output motion to be applied in an opposite direction to the articulation drive gear 6322 to drive the shifter gear 6342 in a second direction to ultimately drive the vertical driven gear 6192 in another second direction. Such actions thereby cause the articulation control ring 6164 to pull the right lower cable 6146 and the left lower cable 6152 in the proximal direction “PD”. In various embodiments, the gear ratios and frictional forces generated between the gears of the horizontal gear assembly 6360 serve to prevent rotation of the horizontal driven gear 6182 as the vertical gear assembly 6370 is actuated.

In various embodiments, a variety of sensors may communicate with the robotic controller 1001 to determine the articulated position of the end effector 6012. Such sensors may interface with, for example, the articulation joint 6100 or be located within the tool mounting portion 6200. For example, sensors may be employed to detect the position of the articulation control ring 6164 on the ball-shaped portion 6162 of the proximal spine portion 6110. Such feedback from the sensors to the controller 1001 permits the controller 1001 to adjust the amount of rotation and the direction of the rotary output to the articulation drive gear 6322. Further, as indicated above, when the shifter drive gear 6342 is centrally positioned in meshing engagement with the first horizontal drive gear 6362 and the first vertical drive gear 6372, the end effector 6012 is locked in the articulated position. Thus, after the desired amount of articulation has been attained, the controller 1001 may activate the shifter solenoid assembly 6350 to bring the shifter gear 6342 into meshing engagement with the first horizontal drive gear 6362 and the first vertical drive gear 6372. In alternative embodiments, the shifter solenoid assembly 6350 may be spring activated to the central locked position.

In use, it may be desirable to rotate the surgical end effector 6012 about the longitudinal tool axis LT-LT. In at least one embodiment, the transmission arrangement 6204 on the tool mounting portion includes a rotational transmission assembly 6400 that is configured to receive a corresponding rotary output motion from the tool drive assembly 1010 of the robotic system 1000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly 6008 (and surgical end effector 6012) about the longitudinal tool axis LT-LT. In various embodiments, for example, a proximal end portion 6041 of the proximal closure tube 6040 is rotatably supported on the tool mounting plate 6202 of the tool mounting portion 6200 by a forward support cradle 6205 and a closure sled 6510 that is also movably supported on the tool mounting plate 6202. In at least one form, the rotational transmission assembly 6400 includes a tube gear segment 6402 that is formed on (or attached to) the proximal end 6041 of the proximal closure tube 6040 for operable engagement by a rotational gear assembly 6410 that is operably supported on the tool mounting plate 6202. As can be seen in FIG. 185, the rotational gear assembly 6410, in at least one embodiment, comprises a rotation drive gear 6412 that is coupled to a corresponding second one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 6202 when the tool mounting portion 6200 is coupled to the tool drive assembly 1010. See FIG. 80. The rotational gear assembly 6410 further comprises a first rotary driven gear 6414 that is rotatably supported on the tool mounting plate 6202 in meshing engagement with the rotation drive gear 6412. The first rotary driven gear 6414 is attached to a drive shaft 6416 that is rotatably supported on the tool mounting plate 6202. A second rotary driven gear 6418 is attached to the drive shaft 6416 and is in meshing engagement with tube gear segment 6402 on the proximal closure tube 6040. Application of a second rotary output motion from the tool drive assembly 1010 of the robotic system 1000 to the corresponding driven element 1304 will thereby cause rotation of the rotation drive gear 6412. Rotation of the rotation drive gear 6412 ultimately results in the rotation of the elongated shaft assembly 6008 (and the surgical end effector 6012) about the longitudinal tool axis LT-LT. It will be appreciated that the application of a rotary output motion from the tool drive assembly 1010 in one direction will result in the rotation of the elongated shaft assembly 6008 and surgical end effector 6012 about the longitudinal tool axis LT-LT in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongated shaft assembly 6008 and surgical end effector 6012 in a second direction that is opposite to the first direction.

In at least one embodiment, the closure of the anvil 2024 relative to the staple cartridge 2034 is accomplished by axially moving a closure portion of the elongated shaft assembly 2008 in the distal direction “DD” on the spine assembly 2049. As indicated above, in various embodiments, the proximal end portion 6041 of the proximal closure tube 6040 is supported by the closure sled 6510 which comprises a portion of a closure transmission, generally depicted as 6512. As can be seen in FIG. 185, the proximal end portion 6041 of the proximal closure tube portion 6040 has a collar 6048 formed thereon. The closure sled 6510 is coupled to the collar 6048 by a yoke 6514 that engages an annular groove 6049 in the collar 6048. Such arrangement serves to enable the collar 6048 to rotate about the longitudinal tool axis LT-LT while still being coupled to the closure transmission 6512. In various embodiments, the closure sled 6510 has an upstanding portion 6516 that has a closure rack gear 6518 formed thereon. The closure rack gear 6518 is configured for driving engagement with a closure gear assembly 6520. See FIG. 185.

In various forms, the closure gear assembly 6520 includes a closure spur gear 6522 that is coupled to a corresponding second one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 6202. See FIG. 80. Thus, application of a third rotary output motion from the tool drive assembly 1010 of the robotic system 1000 to the corresponding second driven element 1304 will cause rotation of the closure spur gear 6522 when the tool mounting portion 6202 is coupled to the tool drive assembly 1010. The closure gear assembly 6520 further includes a closure reduction gear set 6524 that is supported in meshing engagement with the closure spur gear 6522 and the closure rack gear 2106. Thus, application of a third rotary output motion from the tool drive assembly 1010 of the robotic system 1000 to the corresponding second driven element 1304 will cause rotation of the closure spur gear 6522 and the closure transmission 6512 and ultimately drive the closure sled 6510 and the proximal closure tube 6040 axially on the proximal spine portion 6110. The axial direction in which the proximal closure tube 6040 moves ultimately depends upon the direction in which the third driven element 1304 is rotated. For example, in response to one rotary output motion received from the tool drive assembly 1010 of the robotic system 1000, the closure sled 6510 will be driven in the distal direction “DD” and ultimately drive the proximal closure tube 6040 in the distal direction “DD”. As the proximal closure tube 6040 is driven distally, the distal closure tube 6042 is also driven distally by virtue of it connection with the proximal closure tube 6040. As the distal closure tube 6042 is driven distally, the end of the closure tube 6042 will engage a portion of the anvil 6024 and cause the anvil 6024 to pivot to a closed position. Upon application of an “opening” out put motion from the tool drive assembly 1010 of the robotic system 1000, the closure sled 6510 and the proximal closure tube 6040 will be driven in the proximal direction “PD” on the proximal spine portion 6110. As the proximal closure tube 6040 is driven in the proximal direction “PD”, the distal closure tube 6042 will also be driven in the proximal direction “PD”. As the distal closure tube 6042 is driven in the proximal direction “PD”, the opening 6045 therein interacts with the tab 6027 on the anvil 6024 to facilitate the opening thereof. In various embodiments, a spring (not shown) may be employed to bias the anvil 6024 to the open position when the distal closure tube 6042 has been moved to its starting position. In various embodiments, the various gears of the closure gear assembly 6520 are sized to generate the necessary closure forces needed to satisfactorily close the anvil 6024 onto the tissue to be cut and stapled by the surgical end effector 6012. For example, the gears of the closure transmission 6520 may be sized to generate approximately 70-120 pounds of closure forces.

In various embodiments, the cutting instrument is driven through the surgical end effector 6012 by a knife bar 6530. See FIG. 185. In at least one form, the knife bar 6530 is fabricated with a joint arrangement (not shown) and/or is fabricated from material that can accommodate the articulation of the surgical end effector 6102 about the first and second tool articulation axes while remaining sufficiently rigid so as to push the cutting instrument through tissue clamped in the surgical end effector 6012. The knife bar 6530 extends through a hollow passage 6532 in the proximal spine portion 6110.

In various embodiments, a proximal end 6534 of the knife bar 6530 is rotatably affixed to a knife rack gear 6540 such that the knife bar 6530 is free to rotate relative to the knife rack gear 6540. The distal end of the knife bar 6530 is attached to the cutting instrument in the various manners described above. As can be seen in FIG. 185, the knife rack gear 6540 is slidably supported within a rack housing 6542 that is attached to the tool mounting plate 6202 such that the knife rack gear 6540 is retained in meshing engagement with a knife drive transmission portion 6550 of the transmission arrangement 6204. In various embodiments, the knife drive transmission portion 6550 comprises a knife gear assembly 6560. More specifically and with reference to FIG. 185, in at least one embodiment, the knife gear assembly 6560 includes a knife spur gear 6562 that is coupled to a corresponding fourth one of the driven discs or elements 1304 on the adapter side 1307 of the tool mounting plate 6202. See FIG. 80. Thus, application of another rotary output motion from the robotic system 1000 through the tool drive assembly 1010 to the corresponding fourth driven element 1304 will cause rotation of the knife spur gear 6562. The knife gear assembly 6560 further includes a knife gear reduction set 6564 that includes a first knife driven gear 6566 and a second knife drive gear 6568. The knife gear reduction set 6564 is rotatably mounted to the tool mounting plate 6202 such that the first knife driven gear 6566 is in meshing engagement with the knife spur gear 6562. Likewise, the second knife drive gear 6568 is in meshing engagement with a third knife drive gear assembly 6570. As shown in FIG. 185, the second knife driven gear 6568 is in meshing engagement with a fourth knife driven gear 6572 of the third knife drive gear assembly 6570. The fourth knife driven gear 6572 is in meshing engagement with a fifth knife driven gear assembly 6574 that is in meshing engagement with the knife rack gear 6540. In various embodiments, the gears of the knife gear assembly 6560 are sized to generate the forces needed to drive the cutting instrument through the tissue clamped in the surgical end effector 6012 and actuate the staples therein. For example, the gears of the knife gear assembly 6560 may be sized to generate approximately 40 to 100 pounds of driving force. It will be appreciated that the application of a rotary output motion from the tool drive assembly 1010 in one direction will result in the axial movement of the cutting instrument in a distal direction and application of the rotary output motion in an opposite direction will result in the axial travel of the cutting instrument in a proximal direction.

As can be appreciated from the foregoing description, the surgical tool 6000 represents a vast improvement over prior robotic tool arrangements. The unique and novel transmission arrangement employed by the surgical tool 6000 enables the tool to be operably coupled to a tool holder portion 1010 of a robotic system that only has four rotary output bodies, yet obtain the rotary output motions therefrom to: (i) articulate the end effector about two different articulation axes that are substantially transverse to each other as well as the longitudinal tool axis; (ii) rotate the end effector 6012 about the longitudinal tool axis; (iii) close the anvil 6024 relative to the surgical staple cartridge 6034 to varying degrees to enable the end effector 6012 to be used to manipulate tissue and then clamp it into position for cutting and stapling; and (iv) firing the cutting instrument to cut through the tissue clamped within the end effector 6012. The unique and novel shifter arrangements of various embodiments of the present invention described above enable two different articulation actions to be powered from a single rotatable body portion of the robotic system.

The various embodiments of the present invention have been described above in connection with cutting-type surgical instruments. It should be noted, however, that in other embodiments, the inventive surgical instrument disclosed herein need not be a cutting-type surgical instrument, but rather could be used in any type of surgical instrument including remote sensor transponders. For example, it could be a non-cutting endoscopic instrument, a grasper, a stapler, a clip applier, an access device, a drug/gene therapy delivery device, an energy device using ultrasound, RF, laser, etc. In addition, the present invention may be in laparoscopic instruments, for example. The present invention also has application in conventional endoscopic and open surgical instrumentation as well as robotic-assisted surgery.

FIG. 187 depicts use of various aspects of certain embodiments of the present invention in connection with a surgical tool 7000 that has an ultrasonically powered end effector 7012. The end effector 7012 is operably attached to a tool mounting portion 7100 by an elongated shaft assembly 7008. The tool mounting portion 7100 may be substantially similar to the various tool mounting portions described hereinabove. In one embodiment, the end effector 7012 includes an ultrasonically powered jaw portion 7014 that is powered by alternating current or direct current in a known manner. Such ultrasonically-powered devices are disclosed, for example, in U.S. Pat. No. 6,783,524, entitled ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, the entire disclosure of which is herein incorporated by reference. In the illustrated embodiment, a separate power cord 7020 is shown. It will be understood, however, that the power may be supplied thereto from the robotic controller 1001 through the tool mounting portion 7100. The surgical end effector 7012 further includes a movable jaw 7016 that may be used to clamp tissue onto the ultrasonic jaw portion 7014. The movable jaw portion 7016 may be selectively actuated by the robotic controller 1001 through the tool mounting portion 7100 in anyone of the various manners herein described.

FIG. 188 illustrates use of various aspects of certain embodiments of the present invention in connection with a surgical tool 8000 that has an end effector 8012 that comprises a linear stapling device. The end effector 8012 is operably attached to a tool mounting portion 8100 by an elongated shaft assembly 3700 of the type and construction describe above. However, the end effector 8012 may be attached to the tool mounting portion 8100 by a variety of other elongated shaft assemblies described herein. In one embodiment, the tool mounting portion 8100 may be substantially similar to tool mounting portion 3750. However, various other tool mounting portions and their respective transmission arrangements describe in detail herein may also be employed. Such linear stapling head portions are also disclosed, for example, in U.S. Pat. No. 7,673,781, entitled SURGICAL STAPLING DEVICE WITH STAPLE DRIVER THAT SUPPORTS MULTIPLE WIRE DIAMETER STAPLES, the entire disclosure of which is herein incorporated by reference.

Various sensor embodiments described in U.S. Patent Application Publication No. 2011/0062212, now U.S. Pat. No. 8,167,185, the disclosure of which is herein incorporated by reference in its entirety, may be employed with many of the surgical tool embodiments disclosed herein. As was indicated above, the master controller 1001 generally includes master controllers (generally represented by 1003) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display 1002. See FIG. 71. The master controllers 1001 are manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating the surgical tools. Some of the surgical tool embodiments disclosed herein employ a motor or motors in their tool drive portion to supply various control motions to the tool's end effector. Such embodiments may also obtain additional control motion(s) from the motor arrangement employed in the robotic system components. Other embodiments disclosed herein obtain all of the control motions from motor arrangements within the robotic system.

Such motor powered arrangements may employ various sensor arrangements that are disclosed in the published US patent application cited above to provide the surgeon with a variety of forms of feedback without departing from the spirit and scope of the present invention. For example, those master controller arrangements 1003 that employ a manually actuatable firing trigger can employ run motor sensor(s) to provide the surgeon with feedback relating to the amount of force applied to or being experienced by the cutting member. The run motor sensor(s) may be configured for communication with the firing trigger portion to detect when the firing trigger portion has been actuated to commence the cutting/stapling operation by the end effector. The run motor sensor may be a proportional sensor such as, for example, a rheostat or variable resistor. When the firing trigger is drawn in, the sensor detects the movement, and sends an electrical signal indicative of the voltage (or power) to be supplied to the corresponding motor. When the sensor is a variable resistor or the like, the rotation of the motor may be generally proportional to the amount of movement of the firing trigger. That is, if the operator only draws or closes the firing trigger in a small amount, the rotation of the motor is relatively low. When the firing trigger is fully drawn in (or in the fully closed position), the rotation of the motor is at its maximum. In other words, the harder the surgeon pulls on the firing trigger, the more voltage is applied to the motor causing greater rates of rotation. Other arrangements may provide the surgeon with a feed back meter 1005 that may be viewed through the display 1002 and provide the surgeon with a visual indication of the amount of force being applied to the cutting instrument or dynamic clamping member. Other sensor arrangements may be employed to provide the master controller 1001 with an indication as to whether a staple cartridge has been loaded into the end effector, whether the anvil has been moved to a closed position prior to firing, etc.

In alternative embodiments, a motor-controlled interface may be employed in connection with the controller 1001 that limit the maximum trigger pull based on the amount of loading (e.g., clamping force, cutting force, etc.) experienced by the surgical end effector. For example, the harder it is to drive the cutting instrument through the tissue clamped within the end effector, the harder it would be to pull/actuate the activation trigger. In still other embodiments, the trigger on the controller 1001 is arranged such that the trigger pull location is proportionate to the end effector-location/condition. For example, the trigger is only fully depressed when the end effector is fully fired.

In still other embodiments, the various robotic systems and tools disclosed herein may employ many of the sensor/transponder arrangements disclosed above. Such sensor arrangements may include, but are not limited to, run motor sensors, reverse motor sensors, stop motor sensors, end-of-stroke sensors, beginning-of-stroke sensors, cartridge lockout sensors, sensor transponders, etc. The sensors may be employed in connection with any of the surgical tools disclosed herein that are adapted for use with a robotic system. The sensors may be configured to communicate with the robotic system controller. In other embodiments, components of the shaft/end effector may serve as antennas to communicate between the sensors and the robotic controller. In still other embodiments, the various remote programming device arrangements described above may also be employed with the robotic controller. Various surgical tool embodiments disclosed herein may also incorporate a power system that employs the various forms of power packs disclosed above such as one or more series connected battery cells. Such power sources may also include secondary accumulator devices such as rechargeable batteries or supercapacitors. The power pack devices may be removable from the instrument and connectable to a remote charger base. Further robotic surgical tool embodiments may also employ torque limiting devices as disclosed above for limiting the actuation forces supplied by the motor(s) to the surgical end effector.

The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

Although the present invention has been described herein in connection with certain disclosed embodiments, many modifications and variations to those embodiments may be implemented. For example, different types of end effectors may be employed. Also, where materials are disclosed for certain components, other materials may be used. The foregoing description and following claims are intended to cover all such modification and variations.

Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.

Claims

1. A system, comprising:

a cordless surgical cutting and fastening instrument, comprising: an end effector; a shaft connected to the end effector, the shaft comprising a drive train for driving the end effector; an electric motor connected to the shaft; and a device memory assembly that is detachable and removable from the instrument, wherein the device memory assembly comprises a device memory unit for storing one or more operating parameters of the instrument, where the one or more operating parameters comprise a value for the number of firings by the end effector of the instrument; and
a base unit that is separate from the instrument, wherein the base unit comprises a base unit memory for storing the value for the number of firings that is downloaded from the device memory unit.

2. The system of claim 1, wherein the base unit is for downloading the one or more operating parameters when the device memory assembly is detached and removed from the instrument.

3. The system of claim 1, wherein the device memory assembly comprises a device processor connected to the device memory unit.

4. The system of claim 3, wherein the removable device memory assembly further comprises a RFID transponder for reading a RFID value of at least one replaceable component of the instrument, and wherein the device memory unit is in communication with the RFID transponder for storing the RFID value of the at least one replaceable component of the instrument read by the RFID transponder.

5. The system of claim 4, wherein the device processor is programmed to determine whether the at least one replaceable component is proper for use in the instrument based on the RFID value of the at least one replaceable component of the instrument read by the RFID transponder.

6. The system of claim 5, wherein the device processor is further programmed to disable operation of the instrument upon a determination that the at least one replacement component is not proper for use in the instrument.

7. The system of claim 4, wherein the base unit memory is further configured for storing the RFID value of the at least one replaceable component of the instrument upon downloading from the device memory unit.

8. The system of claim 1, wherein:

the electric motor is for rotating the shaft; and
the device memory assembly comprises a power source that is connected to, and powers electrically, the electric motor when the device memory assembly is inserted in the instrument.

9. The system of claim 8, wherein the power source comprises a chargeable DC power source.

10. The system of claim 9, wherein the device memory assembly further comprises means for measuring a charge level across the chargeable DC power source.

11. The system of claim 8, wherein:

the surgical cutting and fastening instrument comprises a handle; and
the motor is housed in the handle.

12. The system of claim 1, wherein:

the end effector comprises opposing jaw members that are moveable relative to each other; and
the one or more operating parameters of the instrument stored by device memory assembly and downloaded to the base unit memory further comprises a distance of a compression gap between the opposing jaw members.

13. The system of claim 12, wherein:

the end effector comprises a staple cartridge with a RFID tag; and
the one or more operating parameters of the instrument stored by the device memory assembly and downloaded to the base unit memory further comprises an RFID value for the staple cartridge.

14. The system of claim 13, wherein the one or more operating parameters of the instrument stored by the device memory assembly and downloaded to the base unit memory further comprises an articulation angle of the end effector.

15. The system of claim 1, wherein the one or more operating parameters of the instrument stored by the device memory assembly and downloaded to the base unit memory further comprises an articulation angle of the end effector.

16. A system, comprising:

a cordless surgical cutting and fastening instrument comprising: an end effector; means for firing the end effector; and first data storage means for storing at least one operating parameter of the instrument, wherein: the at least one operating parameter of the instrument comprises a value for the number of firings by the end effector; and the first data storage means are detachably and removably connected to the instrument; and
second data storage means that are separate from the instrument, wherein the second data storage means is for storing the value for the number of firings that is downloaded from the first data storage means.

17. The system of claim 16, wherein:

the surgical cutting and fastening instrument further comprises: a RFID transponder for reading a RFID value of at least one replaceable component of the instrument; and a processor in communication with the first data storage means, wherein: the first data storage means is for storing the RFID value; and the processor is for determining whether the at least one replaceable component is proper for use in the instrument based on the RFID value of the at least one replaceable component of the instrument read by the RFID transponder.

18. The system of claim 16, wherein:

the end effector is articulable;
the end effector comprises opposing jaw members that are moveable relative to each other; and
the at least one operating parameter of the instrument stored by the first data storage means and downloaded to the second data storage means further comprises: a distance of a compression gap between the opposing jaw members; and an articulation angle of the end effector.

19. A system, comprising:

a cordless surgical fastening instrument, comprising: an end effector comprising a replaceable fastener cartridge assembly including a cartridge body and fasteners removably stored in the cartridge body; a shaft, wherein the end effector extends from the shaft; a firing drive system configured to perform a fastener firing stroke to eject the fasteners from the cartridge body; and a memory device configured to store one or more operating parameters of the surgical fastening instrument, where the one or more operating parameters comprise a value for the number of fastener firing strokes experienced by the end effector of the instrument; and
a computer system that is separate from the surgical fastening instrument, wherein the computer system is configured to download data from the surgical fastening instrument including the one or more parameters and the value for the number of firing strokes so that the manufacturer of the surgical fastening instrument can evaluate and analyze the data.
Referenced Cited
U.S. Patent Documents
66052 June 1867 Smith
662587 November 1900 Blake
670748 March 1901 Weddeler
719487 February 1903 Minor
804229 November 1905 Hutchinson
951393 March 1910 Hahn
1306107 June 1919 Elliott
1314601 September 1919 McCaskey
1677337 July 1928 Grove
1794907 March 1931 Kelly
1849427 March 1932 Hook
1944116 January 1934 Stratman
1954048 April 1934 Jeffrey et al.
2037727 April 1936 La Chapelle
2132295 October 1938 Hawkins
2161632 June 1939 Nattenheimer
2211117 August 1940 Hess
2214870 September 1940 West
2224882 December 1940 Peck
2318379 May 1943 Davis et al.
2329440 September 1943 La Place
2377581 June 1945 Shaffrey
2441096 May 1948 Happe
2448741 September 1948 Scott et al.
2450527 October 1948 Smith
2526902 October 1950 Rublee
2527256 October 1950 Jackson
2578686 December 1951 Fish
2638901 May 1953 Sugarbaker
2674149 April 1954 Benson
2711461 June 1955 Happe
2742955 April 1956 Dominguez
2804848 September 1957 O'Farrell et al.
2808482 October 1957 Zanichkowsky et al.
2853074 September 1958 Olson
2887004 May 1959 Stewart
2957353 October 1960 Lewis
2959974 November 1960 Emrick
3032769 May 1962 Palmer
3060972 October 1962 Sheldon
3075062 January 1963 Iaccarino
3078465 February 1963 Bobrov
3079606 March 1963 Bobrov et al.
3080564 March 1963 Strekopitov et al.
3166072 January 1965 Sullivan, Jr.
3180236 April 1965 Beckett
3196869 July 1965 Scholl
3204731 September 1965 Bent et al.
3266494 August 1966 Brownrigg et al.
3269630 August 1966 Fleischer
3269631 August 1966 Takaro
3275211 September 1966 Hirsch et al.
3317103 May 1967 Cullen et al.
3317105 May 1967 Astafjev et al.
3357296 December 1967 Lefever
3359978 December 1967 Smith, Jr.
3480193 November 1969 Ralston
3490675 January 1970 Green et al.
3494533 February 1970 Green et al.
3499591 March 1970 Green
3503396 March 1970 Pierie et al.
3509629 May 1970 Kidokoro
3551987 January 1971 Wilkinson
3568675 March 1971 Harvey
3572159 March 1971 Tschanz
3583393 June 1971 Takahashi
3589589 June 1971 Akopov
3598943 August 1971 Barrett
3608549 September 1971 Merrill
3618842 November 1971 Bryan
3638652 February 1972 Kelley
3640317 February 1972 Panfili
3643851 February 1972 Green et al.
3650453 March 1972 Smith, Jr.
3661666 May 1972 Foster et al.
3662939 May 1972 Bryan
3688966 September 1972 Perkins et al.
3695646 October 1972 Mommsen
3709221 January 1973 Riely
3717294 February 1973 Green
3727904 April 1973 Gabbey
3734207 May 1973 Fishbein
3740994 June 1973 De Carlo, Jr.
3744495 July 1973 Johnson
3746002 July 1973 Haller
3747603 July 1973 Adler
3751902 August 1973 Kingsbury et al.
3752161 August 1973 Bent
3799151 March 1974 Fukaumi et al.
3808452 April 1974 Hutchinson
3815476 June 1974 Green et al.
3819100 June 1974 Noiles et al.
3821919 July 1974 Knohl
3836171 September 1974 Hayashi et al.
3837555 September 1974 Green
3841474 October 1974 Maier
3851196 November 1974 Hinds
3863639 February 1975 Kleaveland
3883624 May 1975 McKenzie et al.
3885491 May 1975 Curtis
3892228 July 1975 Mitsui
3894174 July 1975 Cartun
3902247 September 1975 Fleer et al.
3940844 March 2, 1976 Colby et al.
3944163 March 16, 1976 Hayashi et al.
3950686 April 13, 1976 Randall
3952747 April 27, 1976 Kimmell, Jr.
3955581 May 11, 1976 Spasiano et al.
3959879 June 1, 1976 Sellers
RE28932 August 17, 1976 Noiles et al.
3972734 August 3, 1976 King
3981051 September 21, 1976 Brumlik
4025216 May 24, 1977 Hives
4027746 June 7, 1977 Kine
4034143 July 5, 1977 Sweet
4054108 October 18, 1977 Gill
4060089 November 29, 1977 Noiles
4066133 January 3, 1978 Voss
4100820 July 18, 1978 Evett
4106446 August 15, 1978 Yamada et al.
4108211 August 22, 1978 Tanaka
4111206 September 5, 1978 Vishnevsky et al.
4127227 November 28, 1978 Green
4129059 December 12, 1978 Van Eck
4132146 January 2, 1979 Uhlig
4135517 January 23, 1979 Reale
4154122 May 15, 1979 Severin
4169990 October 2, 1979 Lerdman
4180285 December 25, 1979 Reneau
4185701 January 29, 1980 Boys
4190042 February 26, 1980 Sinnreich
4198734 April 22, 1980 Brumlik
4198982 April 22, 1980 Fortner et al.
4207898 June 17, 1980 Becht
4213562 July 22, 1980 Garrett et al.
4226242 October 7, 1980 Jarvik
4239431 December 16, 1980 Davini
4241861 December 30, 1980 Fleischer
4244372 January 13, 1981 Kapitanov et al.
4250436 February 10, 1981 Weissman
4261244 April 14, 1981 Becht et al.
4272002 June 9, 1981 Moshofsky
4272662 June 9, 1981 Simpson
4274304 June 23, 1981 Curtiss
4274398 June 23, 1981 Scott, Jr.
4275813 June 30, 1981 Noiles
4278091 July 14, 1981 Borzone
4289131 September 15, 1981 Mueller
4289133 September 15, 1981 Rothfuss
4290542 September 22, 1981 Fedotov et al.
D261356 October 20, 1981 Robinson
4296654 October 27, 1981 Mercer
4296881 October 27, 1981 Lee
4304236 December 8, 1981 Conta et al.
4305539 December 15, 1981 Korolkov et al.
4312363 January 26, 1982 Rothfuss et al.
4312685 January 26, 1982 Riedl
4317451 March 2, 1982 Cerwin et al.
4319576 March 16, 1982 Rothfuss
4321002 March 23, 1982 Froehlich
4321746 March 30, 1982 Grinage
4328839 May 11, 1982 Lyons et al.
4331277 May 25, 1982 Green
4340331 July 20, 1982 Savino
4347450 August 31, 1982 Colligan
4349028 September 14, 1982 Green
4350151 September 21, 1982 Scott
4353371 October 12, 1982 Cosman
4357940 November 9, 1982 Muller
4361057 November 30, 1982 Kochera
4366544 December 28, 1982 Shima et al.
4373147 February 8, 1983 Carlson, Jr.
4376380 March 15, 1983 Burgess
4379457 April 12, 1983 Gravener et al.
4380312 April 19, 1983 Landrus
4382326 May 10, 1983 Rabuse
4383634 May 17, 1983 Green
4393728 July 19, 1983 Larson et al.
4396139 August 2, 1983 Hall et al.
4397311 August 9, 1983 Kanshin et al.
4402445 September 6, 1983 Green
4406621 September 27, 1983 Bailey
4408692 October 11, 1983 Sigel et al.
4409057 October 11, 1983 Molenda et al.
4415112 November 15, 1983 Green
4416276 November 22, 1983 Newton et al.
4417890 November 29, 1983 Dennehey et al.
4423456 December 27, 1983 Zaidenweber
4428376 January 31, 1984 Mericle
4429695 February 7, 1984 Green
4430997 February 14, 1984 DiGiovanni et al.
4434796 March 6, 1984 Karapetian et al.
4438659 March 27, 1984 Desplats
4442964 April 17, 1984 Becht
4448194 May 15, 1984 DiGiovanni et al.
4451743 May 29, 1984 Suzuki et al.
4452376 June 5, 1984 Klieman et al.
4454887 June 19, 1984 Kruger
4461305 July 24, 1984 Cibley
4467805 August 28, 1984 Fukuda
4469481 September 4, 1984 Kobayashi
4470414 September 11, 1984 Imagawa et al.
4471780 September 18, 1984 Menges et al.
4471781 September 18, 1984 Di Giovanni et al.
4473077 September 25, 1984 Noiles et al.
4475679 October 9, 1984 Fleury, Jr.
4478220 October 23, 1984 Di Giovanni et al.
4480641 November 6, 1984 Failla et al.
4485816 December 4, 1984 Krumme
4485817 December 4, 1984 Swiggett
4486928 December 11, 1984 Tucker et al.
4488523 December 18, 1984 Shichman
4489875 December 25, 1984 Crawford et al.
4493983 January 15, 1985 Taggert
4499895 February 19, 1985 Takayama
4500024 February 19, 1985 DiGiovanni et al.
D278081 March 19, 1985 Green
4503842 March 12, 1985 Takayama
4505272 March 19, 1985 Utyamyshev et al.
4505273 March 19, 1985 Braun et al.
4505414 March 19, 1985 Filipi
4506671 March 26, 1985 Green
4512038 April 23, 1985 Alexander et al.
4520817 June 4, 1985 Green
4522327 June 11, 1985 Korthoff et al.
4526174 July 2, 1985 Froehlich
4527724 July 9, 1985 Chow et al.
4530357 July 23, 1985 Pawloski et al.
4530453 July 23, 1985 Green
4531522 July 30, 1985 Bedi et al.
4532927 August 6, 1985 Miksza, Jr.
4540202 September 10, 1985 Amphoux et al.
4548202 October 22, 1985 Duncan
4556058 December 3, 1985 Green
4560915 December 24, 1985 Soultanian
4565109 January 21, 1986 Tsay
4565189 January 21, 1986 Mabuchi
4566620 January 28, 1986 Green et al.
4569346 February 11, 1986 Poirier
4569469 February 11, 1986 Mongeon et al.
4571213 February 18, 1986 Ishimoto
4573468 March 4, 1986 Conta et al.
4573469 March 4, 1986 Golden et al.
4573622 March 4, 1986 Green et al.
4576165 March 18, 1986 Green et al.
4576167 March 18, 1986 Noiles
4580712 April 8, 1986 Green
4585153 April 29, 1986 Failla et al.
4586501 May 6, 1986 Claracq
4586502 May 6, 1986 Bedi et al.
4589416 May 20, 1986 Green
4589870 May 20, 1986 Citrin et al.
4591085 May 27, 1986 Di Giovanni
RE32214 July 22, 1986 Schramm
4597753 July 1, 1986 Turley
4600037 July 15, 1986 Hatten
4604786 August 12, 1986 Howie, Jr.
4605001 August 12, 1986 Rothfuss et al.
4605004 August 12, 1986 Di Giovanni et al.
4606343 August 19, 1986 Conta et al.
4607638 August 26, 1986 Crainich
4608981 September 2, 1986 Rothfuss et al.
4610250 September 9, 1986 Green
4610383 September 9, 1986 Rothfuss et al.
4612933 September 23, 1986 Brinkerhoff et al.
D286180 October 14, 1986 Korthoff
D286442 October 28, 1986 Korthoff et al.
4617914 October 21, 1986 Ueda
4619262 October 28, 1986 Taylor
4619391 October 28, 1986 Sharkany et al.
D287278 December 16, 1986 Spreckelmeier
4628459 December 9, 1986 Shinohara et al.
4629107 December 16, 1986 Fedotov et al.
4632290 December 30, 1986 Green et al.
4633861 January 6, 1987 Chow et al.
4633874 January 6, 1987 Chow et al.
4634419 January 6, 1987 Kreizman et al.
4635638 January 13, 1987 Weintraub et al.
4641076 February 3, 1987 Linden
4642618 February 10, 1987 Johnson et al.
4643173 February 17, 1987 Bell et al.
4643731 February 17, 1987 Eckenhoff
4646722 March 3, 1987 Silverstein et al.
4646745 March 3, 1987 Noiles
4652820 March 24, 1987 Maresca
4654028 March 31, 1987 Suma
4655222 April 7, 1987 Florez et al.
4662555 May 5, 1987 Thornton
4663874 May 12, 1987 Sano et al.
4664305 May 12, 1987 Blake, III et al.
4665916 May 19, 1987 Green
4667674 May 26, 1987 Korthoff et al.
4669647 June 2, 1987 Storace
4671278 June 9, 1987 Chin
4671280 June 9, 1987 Dorband et al.
4671445 June 9, 1987 Barker et al.
4672964 June 16, 1987 Dee et al.
4675944 June 30, 1987 Wells
4676245 June 30, 1987 Fukuda
4679460 July 14, 1987 Yoshigai
4679719 July 14, 1987 Kramer
4684051 August 4, 1987 Akopov et al.
4688555 August 25, 1987 Wardle
4691703 September 8, 1987 Auth et al.
4693248 September 15, 1987 Failla
4698579 October 6, 1987 Richter et al.
4700703 October 20, 1987 Resnick et al.
4705038 November 10, 1987 Sjostrom et al.
4708141 November 24, 1987 Inoue et al.
4709120 November 24, 1987 Pearson
4715520 December 29, 1987 Roehr, Jr. et al.
4719917 January 19, 1988 Barrows et al.
4721099 January 26, 1988 Chikama
4724840 February 16, 1988 McVay et al.
4727308 February 23, 1988 Huljak et al.
4728020 March 1, 1988 Green et al.
4728876 March 1, 1988 Mongeon et al.
4729260 March 8, 1988 Dudden
4730726 March 15, 1988 Holzwarth
4741336 May 3, 1988 Failla et al.
4743214 May 10, 1988 Tai-Cheng
4744363 May 17, 1988 Hasson
4747820 May 31, 1988 Hornlein et al.
4750902 June 14, 1988 Wuchinich et al.
4752024 June 21, 1988 Green et al.
4754909 July 5, 1988 Barker et al.
4761326 August 2, 1988 Barnes et al.
4763669 August 16, 1988 Jaeger
4767044 August 30, 1988 Green
D297764 September 20, 1988 Hunt et al.
4773420 September 27, 1988 Green
4777780 October 18, 1988 Holzwarth
4781186 November 1, 1988 Simpson et al.
4784137 November 15, 1988 Kulik et al.
4787387 November 29, 1988 Burbank, III et al.
D298967 December 13, 1988 Hunt
4790225 December 13, 1988 Moody et al.
4790314 December 13, 1988 Weaver
4805617 February 21, 1989 Bedi et al.
4805823 February 21, 1989 Rothfuss
4807628 February 28, 1989 Peters et al.
4809695 March 7, 1989 Gwathmey et al.
4815460 March 28, 1989 Porat et al.
4817643 April 4, 1989 Olson
4817847 April 4, 1989 Redtenbacher et al.
4819853 April 11, 1989 Green
4821939 April 18, 1989 Green
4827911 May 9, 1989 Broadwin et al.
4828542 May 9, 1989 Hermann
4828944 May 9, 1989 Yabe et al.
4830855 May 16, 1989 Stewart
4833937 May 30, 1989 Nagano
4834720 May 30, 1989 Blinkhorn
4838859 June 13, 1989 Strassmann
4844068 July 4, 1989 Arata et al.
4848637 July 18, 1989 Pruitt
4856078 August 8, 1989 Konopka
4860644 August 29, 1989 Kohl et al.
4862891 September 5, 1989 Smith
4863423 September 5, 1989 Wallace
4865030 September 12, 1989 Polyak
4868530 September 19, 1989 Ahs
4869414 September 26, 1989 Green et al.
4869415 September 26, 1989 Fox
4873977 October 17, 1989 Avant et al.
4875486 October 24, 1989 Rapoport et al.
4880015 November 14, 1989 Nierman
4890613 January 2, 1990 Golden et al.
4892244 January 9, 1990 Fox et al.
4893622 January 16, 1990 Green et al.
4894051 January 16, 1990 Shiber
4896584 January 30, 1990 Stoll et al.
4896678 January 30, 1990 Ogawa
4900303 February 13, 1990 Lemelson
4903697 February 27, 1990 Resnick et al.
4909789 March 20, 1990 Taguchi et al.
4915100 April 10, 1990 Green
4919679 April 24, 1990 Averill et al.
4921479 May 1, 1990 Grayzel
4925082 May 15, 1990 Kim
4928699 May 29, 1990 Sasai
4930503 June 5, 1990 Pruitt
4930674 June 5, 1990 Barak
4931047 June 5, 1990 Broadwin et al.
4931737 June 5, 1990 Hishiki
4932960 June 12, 1990 Green et al.
4933800 June 12, 1990 Yang
4933843 June 12, 1990 Scheller et al.
D309350 July 17, 1990 Sutherland et al.
4938408 July 3, 1990 Bedi et al.
4941623 July 17, 1990 Pruitt
4943182 July 24, 1990 Hoblingre
4944443 July 31, 1990 Oddsen et al.
4946067 August 7, 1990 Kelsall
4948327 August 14, 1990 Crupi, Jr.
4949707 August 21, 1990 LeVahn et al.
4951860 August 28, 1990 Peters et al.
4951861 August 28, 1990 Schulze et al.
4955959 September 11, 1990 Tompkins et al.
4957212 September 18, 1990 Duck et al.
4962877 October 16, 1990 Hervas
4964559 October 23, 1990 Deniega et al.
4964863 October 23, 1990 Kanshin et al.
4965709 October 23, 1990 Ngo
4973274 November 27, 1990 Hirukawa
4973302 November 27, 1990 Armour et al.
4978049 December 18, 1990 Green
4978333 December 18, 1990 Broadwin et al.
4979952 December 25, 1990 Kubota et al.
4984564 January 15, 1991 Yuen
4986808 January 22, 1991 Broadwin et al.
4987049 January 22, 1991 Komamura et al.
4988334 January 29, 1991 Hornlein et al.
4995877 February 26, 1991 Ams et al.
4995959 February 26, 1991 Metzner
4996975 March 5, 1991 Nakamura
5002543 March 26, 1991 Bradshaw et al.
5002553 March 26, 1991 Shiber
5005754 April 9, 1991 Van Overloop
5009661 April 23, 1991 Michelson
5012411 April 30, 1991 Policastro et al.
5014898 May 14, 1991 Heidrich
5014899 May 14, 1991 Presty et al.
5015227 May 14, 1991 Broadwin et al.
5018515 May 28, 1991 Gilman
5018657 May 28, 1991 Pedlick et al.
5024652 June 18, 1991 Dumenek et al.
5024671 June 18, 1991 Tu et al.
5025559 June 25, 1991 McCullough
5027834 July 2, 1991 Pruitt
5030226 July 9, 1991 Green et al.
5031814 July 16, 1991 Tompkins et al.
5035040 July 30, 1991 Kerrigan et al.
5038109 August 6, 1991 Goble et al.
5038247 August 6, 1991 Kelley et al.
5040715 August 20, 1991 Green et al.
5042707 August 27, 1991 Taheri
5061269 October 29, 1991 Muller
5062491 November 5, 1991 Takeshima et al.
5062563 November 5, 1991 Green et al.
5065929 November 19, 1991 Schulze et al.
5071052 December 10, 1991 Rodak et al.
5071430 December 10, 1991 de Salis et al.
5074454 December 24, 1991 Peters
5077506 December 31, 1991 Krause
5079006 January 7, 1992 Urquhart
5080556 January 14, 1992 Carreno
5083695 January 28, 1992 Foslien et al.
5084057 January 28, 1992 Green et al.
5088979 February 18, 1992 Filipi et al.
5088997 February 18, 1992 Delahuerga et al.
5089606 February 18, 1992 Cole et al.
5094247 March 10, 1992 Hernandez et al.
5098004 March 24, 1992 Kerrigan
5098360 March 24, 1992 Hirota
5100042 March 31, 1992 Gravener et al.
5100420 March 31, 1992 Green et al.
5104025 April 14, 1992 Main et al.
5104397 April 14, 1992 Vasconcelos et al.
5104400 April 14, 1992 Berguer et al.
5106008 April 21, 1992 Tompkins et al.
5108368 April 28, 1992 Hammerslag et al.
5109722 May 5, 1992 Hufnagle et al.
5111987 May 12, 1992 Moeinzadeh et al.
5116349 May 26, 1992 Aranyi
D327323 June 23, 1992 Hunt
5119009 June 2, 1992 McCaleb et al.
5122156 June 16, 1992 Granger et al.
5124990 June 23, 1992 Williamson
5129570 July 14, 1992 Schulze et al.
5137198 August 11, 1992 Nobis et al.
5139513 August 18, 1992 Segato
5141144 August 25, 1992 Foslien et al.
5142932 September 1, 1992 Moya et al.
5155941 October 20, 1992 Takahashi et al.
5156315 October 20, 1992 Green et al.
5156609 October 20, 1992 Nakao et al.
5156614 October 20, 1992 Green et al.
5158567 October 27, 1992 Green
D330699 November 3, 1992 Gill
5163598 November 17, 1992 Peters et al.
5168605 December 8, 1992 Bartlett
5170925 December 15, 1992 Madden et al.
5171247 December 15, 1992 Hughett et al.
5171249 December 15, 1992 Stefanchik et al.
5171253 December 15, 1992 Klieman
5173053 December 22, 1992 Swanson et al.
5173133 December 22, 1992 Morin et al.
5176677 January 5, 1993 Wuchinich
5176688 January 5, 1993 Narayan et al.
5187422 February 16, 1993 Izenbaard et al.
5188102 February 23, 1993 Idemoto et al.
5188111 February 23, 1993 Yates et al.
5190517 March 2, 1993 Zieve et al.
5190544 March 2, 1993 Chapman et al.
5190560 March 2, 1993 Woods et al.
5192288 March 9, 1993 Thompson et al.
5195505 March 23, 1993 Josefsen
5195968 March 23, 1993 Lundquist et al.
5197648 March 30, 1993 Gingold
5197649 March 30, 1993 Bessler et al.
5197966 March 30, 1993 Sommerkamp
5197970 March 30, 1993 Green et al.
5200280 April 6, 1993 Karasa
5201750 April 13, 1993 Hocherl et al.
5205459 April 27, 1993 Brinkerhoff et al.
5207697 May 4, 1993 Carusillo et al.
5209747 May 11, 1993 Knoepfler
5209756 May 11, 1993 Seedhom et al.
5211649 May 18, 1993 Kohler et al.
5211655 May 18, 1993 Hasson
5217457 June 8, 1993 Delahuerga et al.
5217478 June 8, 1993 Rexroth
5219111 June 15, 1993 Bilotti et al.
5220269 June 15, 1993 Chen et al.
5221036 June 22, 1993 Takase
5221281 June 22, 1993 Klicek
5222945 June 29, 1993 Basnight
5222963 June 29, 1993 Brinkerhoff et al.
5222975 June 29, 1993 Crainich
5222976 June 29, 1993 Yoon
5223675 June 29, 1993 Taft
D338729 August 24, 1993 Sprecklemeier et al.
5234447 August 10, 1993 Kaster et al.
5236424 August 17, 1993 Imran
5236440 August 17, 1993 Hlavacek
5239981 August 31, 1993 Anapliotis
5240163 August 31, 1993 Stein et al.
5242457 September 7, 1993 Akopov et al.
5244462 September 14, 1993 Delahuerga et al.
5246156 September 21, 1993 Rothfuss et al.
5246443 September 21, 1993 Mai
5253793 October 19, 1993 Green et al.
5258007 November 2, 1993 Spetzler et al.
5258008 November 2, 1993 Wilk
5258009 November 2, 1993 Conners
5258010 November 2, 1993 Green et al.
5258012 November 2, 1993 Luscombe et al.
5259366 November 9, 1993 Reydel et al.
5259835 November 9, 1993 Clark et al.
5260637 November 9, 1993 Pizzi
5261877 November 16, 1993 Fine et al.
5261922 November 16, 1993 Hood
5263629 November 23, 1993 Trumbull et al.
5263937 November 23, 1993 Shipp
5263973 November 23, 1993 Cook
5264218 November 23, 1993 Rogozinski
5268622 December 7, 1993 Philipp
5271543 December 21, 1993 Grant et al.
5271544 December 21, 1993 Fox et al.
RE34519 January 25, 1994 Fox et al.
5275322 January 4, 1994 Brinkerhoff et al.
5275323 January 4, 1994 Schulze et al.
5275608 January 4, 1994 Forman et al.
5279416 January 18, 1994 Malec et al.
5281216 January 25, 1994 Klicek
5282806 February 1, 1994 Haber et al.
5282829 February 1, 1994 Hermes
5284128 February 8, 1994 Hart
5285381 February 8, 1994 Iskarous et al.
5285945 February 15, 1994 Brinkerhoff et al.
5286253 February 15, 1994 Fucci
5289963 March 1, 1994 McGarry et al.
5290271 March 1, 1994 Jernberg
5290310 March 1, 1994 Makower et al.
5292053 March 8, 1994 Bilotti et al.
5293024 March 8, 1994 Sugahara et al.
5297714 March 29, 1994 Kramer
5304204 April 19, 1994 Bregen
D347474 May 31, 1994 Olson
5307976 May 3, 1994 Olson et al.
5308576 May 3, 1994 Green et al.
5309387 May 3, 1994 Mori et al.
5309927 May 10, 1994 Welch
5312023 May 17, 1994 Green et al.
5312024 May 17, 1994 Grant et al.
5312329 May 17, 1994 Beaty et al.
5313935 May 24, 1994 Kortenbach et al.
5313967 May 24, 1994 Lieber et al.
5314424 May 24, 1994 Nicholas
5314445 May 24, 1994 Heidmueller nee Degwitz et al.
5314466 May 24, 1994 Stern et al.
5318221 June 7, 1994 Green et al.
5320627 June 14, 1994 Sorensen et al.
D348930 July 19, 1994 Olson
5326013 July 5, 1994 Green et al.
5329923 July 19, 1994 Lundquist
5330487 July 19, 1994 Thornton et al.
5330502 July 19, 1994 Hassler et al.
5331971 July 26, 1994 Bales et al.
5332142 July 26, 1994 Robinson et al.
5333422 August 2, 1994 Warren et al.
5333772 August 2, 1994 Rothfuss et al.
5333773 August 2, 1994 Main et al.
5334183 August 2, 1994 Wuchinich
5336130 August 9, 1994 Ray
5336229 August 9, 1994 Noda
5336232 August 9, 1994 Green et al.
5339799 August 23, 1994 Kami et al.
5341724 August 30, 1994 Vatel
5341807 August 30, 1994 Nardella
5341810 August 30, 1994 Dardel
5342380 August 30, 1994 Hood
5342381 August 30, 1994 Tidemand
5342385 August 30, 1994 Norelli et al.
5342395 August 30, 1994 Jarrett et al.
5342396 August 30, 1994 Cook
5343382 August 30, 1994 Hale et al.
5343391 August 30, 1994 Mushabac
5344059 September 6, 1994 Green et al.
5344060 September 6, 1994 Gravener et al.
5344454 September 6, 1994 Clarke et al.
5346504 September 13, 1994 Ortiz et al.
5348259 September 20, 1994 Blanco et al.
5350355 September 27, 1994 Sklar
5350388 September 27, 1994 Epstein
5350391 September 27, 1994 Iacovelli
5350400 September 27, 1994 Esposito et al.
5352229 October 4, 1994 Goble et al.
5352235 October 4, 1994 Koros et al.
5352238 October 4, 1994 Green et al.
5354250 October 11, 1994 Christensen
5354303 October 11, 1994 Spaeth et al.
5356006 October 18, 1994 Alpern et al.
5356064 October 18, 1994 Green et al.
5358506 October 25, 1994 Green et al.
5358510 October 25, 1994 Luscombe et al.
5359231 October 25, 1994 Flowers et al.
D352780 November 22, 1994 Glaeser et al.
5359993 November 1, 1994 Slater et al.
5360305 November 1, 1994 Kerrigan
5360428 November 1, 1994 Hutchinson, Jr.
5364001 November 15, 1994 Bryan
5364002 November 15, 1994 Green et al.
5364003 November 15, 1994 Williamson, IV
5366133 November 22, 1994 Geiste
5366134 November 22, 1994 Green et al.
5366479 November 22, 1994 McGarry et al.
5368015 November 29, 1994 Wilk
5368592 November 29, 1994 Stern et al.
5369565 November 29, 1994 Chen et al.
5370645 December 6, 1994 Klicek et al.
5372124 December 13, 1994 Takayama et al.
5372596 December 13, 1994 Klicek et al.
5372602 December 13, 1994 Burke
5374277 December 20, 1994 Hassler
5375588 December 27, 1994 Yoon
5376095 December 27, 1994 Ortiz
5379933 January 10, 1995 Green et al.
5381649 January 17, 1995 Webb
5381782 January 17, 1995 DeLaRama et al.
5381943 January 17, 1995 Allen et al.
5382247 January 17, 1995 Cimino et al.
5383880 January 24, 1995 Hooven
5383881 January 24, 1995 Green et al.
5383882 January 24, 1995 Buess et al.
5383888 January 24, 1995 Zvenyatsky et al.
5383895 January 24, 1995 Holmes et al.
5388568 February 14, 1995 van der Heide
5389098 February 14, 1995 Tsuruta et al.
5389102 February 14, 1995 Green et al.
5389104 February 14, 1995 Hahnen et al.
5391180 February 21, 1995 Tovey et al.
5392979 February 28, 1995 Green et al.
5395030 March 7, 1995 Kuramoto et al.
5395033 March 7, 1995 Byrne et al.
5395034 March 7, 1995 Allen et al.
5395312 March 7, 1995 Desai
5395384 March 7, 1995 Duthoit et al.
5397046 March 14, 1995 Savage et al.
5397324 March 14, 1995 Carroll et al.
5400267 March 21, 1995 Denen et al.
5403276 April 4, 1995 Schechter et al.
5403312 April 4, 1995 Yates et al.
5404106 April 4, 1995 Matsuda
5404870 April 11, 1995 Brinkerhoff et al.
5404960 April 11, 1995 Wada et al.
5405072 April 11, 1995 Zlock et al.
5405073 April 11, 1995 Porter
5405344 April 11, 1995 Williamson et al.
5405360 April 11, 1995 Tovey
5407293 April 18, 1995 Crainich
5408409 April 18, 1995 Glassman et al.
5409498 April 25, 1995 Braddock et al.
5409703 April 25, 1995 McAnalley et al.
D357981 May 2, 1995 Green et al.
5411481 May 2, 1995 Allen et al.
5411508 May 2, 1995 Bessler et al.
5413107 May 9, 1995 Oakley et al.
5413267 May 9, 1995 Solyntjes et al.
5413268 May 9, 1995 Green et al.
5413272 May 9, 1995 Green et al.
5413573 May 9, 1995 Koivukangas
5415334 May 16, 1995 Williamson et al.
5415335 May 16, 1995 Knodell, Jr.
5417203 May 23, 1995 Tovey et al.
5417361 May 23, 1995 Williamson, IV
5419766 May 30, 1995 Chang et al.
5421829 June 6, 1995 Olichney et al.
5422567 June 6, 1995 Matsunaga
5423471 June 13, 1995 Mastri et al.
5423809 June 13, 1995 Klicek
5423835 June 1995 Green et al.
5425745 June 20, 1995 Green et al.
5427298 June 27, 1995 Tegtmeier
5431322 July 11, 1995 Green et al.
5431323 July 11, 1995 Smith et al.
5431654 July 11, 1995 Nic
5431668 July 11, 1995 Burbank, III et al.
5433721 July 18, 1995 Hooven et al.
5437681 August 1, 1995 Meade et al.
5438302 August 1, 1995 Goble
5439155 August 8, 1995 Viola
5439156 August 8, 1995 Grant et al.
5439479 August 8, 1995 Shichman et al.
5441191 August 15, 1995 Linden
5441193 August 15, 1995 Gravener
5441483 August 15, 1995 Avitall
5441494 August 15, 1995 Ortiz
5443197 August 22, 1995 Malis et al.
5443463 August 22, 1995 Stern et al.
5444113 August 22, 1995 Sinclair et al.
5445155 August 29, 1995 Sieben
5445304 August 29, 1995 Plyley et al.
5445604 August 29, 1995 Lang
5445644 August 29, 1995 Pietrafitta et al.
5447265 September 5, 1995 Vidal et al.
5447417 September 5, 1995 Kuhl et al.
5447513 September 5, 1995 Davison et al.
5449355 September 12, 1995 Rhum et al.
5449365 September 12, 1995 Green et al.
5449370 September 12, 1995 Vaitekunas
5452836 September 26, 1995 Huitema et al.
5452837 September 26, 1995 Williamson, IV et al.
5454378 October 3, 1995 Palmer et al.
5454822 October 3, 1995 Schob et al.
5454827 October 3, 1995 Aust et al.
5456401 October 10, 1995 Green et al.
5456917 October 10, 1995 Wise et al.
5458279 October 17, 1995 Plyley
5458579 October 17, 1995 Chodorow et al.
5462215 October 31, 1995 Viola et al.
5464013 November 7, 1995 Lemelson
5464144 November 7, 1995 Guy et al.
5464300 November 7, 1995 Crainich
5465819 November 14, 1995 Weilant et al.
5465894 November 14, 1995 Clark et al.
5465895 November 14, 1995 Knodel et al.
5465896 November 14, 1995 Allen et al.
5466020 November 14, 1995 Page et al.
5467911 November 21, 1995 Tsuruta et al.
5468253 November 21, 1995 Bezwada et al.
5470006 November 28, 1995 Rodak
5470007 November 28, 1995 Plyley et al.
5470008 November 28, 1995 Rodak
5470009 November 28, 1995 Rodak
5470010 November 28, 1995 Rothfuss et al.
5471129 November 28, 1995 Mann
5472132 December 5, 1995 Savage et al.
5472442 December 5, 1995 Klicek
5473204 December 5, 1995 Temple
5474057 December 12, 1995 Makower et al.
5474223 December 12, 1995 Viola et al.
5474566 December 12, 1995 Alesi et al.
5476206 December 19, 1995 Green et al.
5476479 December 19, 1995 Green et al.
5476481 December 19, 1995 Schondorf
5478003 December 26, 1995 Green et al.
5478354 December 26, 1995 Tovey et al.
5480089 January 2, 1996 Blewett
5480409 January 2, 1996 Riza
5482197 January 9, 1996 Green et al.
5483952 January 16, 1996 Aranyi
5484095 January 16, 1996 Green et al.
5484398 January 16, 1996 Stoddard
5484451 January 16, 1996 Akopov et al.
5485947 January 23, 1996 Olson et al.
5485952 January 23, 1996 Fontayne
5487499 January 30, 1996 Sorrentino et al.
5487500 January 30, 1996 Knodel et al.
5489058 February 6, 1996 Plyley et al.
5489256 February 6, 1996 Adair
5489290 February 6, 1996 Furnish
5490819 February 13, 1996 Nicholas et al.
5492671 February 20, 1996 Krafft
5496312 March 5, 1996 Klicek
5496317 March 5, 1996 Goble et al.
5497933 March 12, 1996 DeFonzo et al.
5498838 March 12, 1996 Furman
5501654 March 26, 1996 Failla et al.
5503320 April 2, 1996 Webster et al.
5503635 April 2, 1996 Sauer et al.
5503638 April 2, 1996 Cooper et al.
5505363 April 9, 1996 Green et al.
5507426 April 16, 1996 Young et al.
5509596 April 23, 1996 Green et al.
5509916 April 23, 1996 Taylor
5511564 April 30, 1996 Wilk
5514129 May 7, 1996 Smith
5514149 May 7, 1996 Green et al.
5514157 May 7, 1996 Nicholas et al.
5518163 May 21, 1996 Hooven
5518164 May 21, 1996 Hooven
5520609 May 28, 1996 Moll et al.
5520634 May 28, 1996 Fox et al.
5520678 May 28, 1996 Heckele et al.
5520700 May 28, 1996 Beyar et al.
5522817 June 4, 1996 Sander et al.
5522831 June 4, 1996 Sleister et al.
5527264 June 18, 1996 Moll et al.
5527320 June 18, 1996 Carruthers et al.
5529235 June 25, 1996 Boiarski et al.
D372086 July 23, 1996 Grasso et al.
5531305 July 2, 1996 Roberts et al.
5531744 July 2, 1996 Nardella et al.
5531856 July 2, 1996 Moll et al.
5533521 July 9, 1996 Granger
5533581 July 9, 1996 Barth et al.
5533661 July 9, 1996 Main et al.
5535934 July 16, 1996 Boiarski et al.
5535935 July 16, 1996 Vidal et al.
5535937 July 16, 1996 Boiarski et al.
5540375 July 30, 1996 Bolanos et al.
5540705 July 30, 1996 Meade et al.
5541376 July 30, 1996 Ladtkow et al.
5541489 July 30, 1996 Dunstan
5542594 August 6, 1996 McKean et al.
5542949 August 6, 1996 Yoon
5543119 August 6, 1996 Sutter et al.
5543695 August 6, 1996 Culp et al.
5544802 August 13, 1996 Crainich
5547117 August 20, 1996 Hamblin et al.
5549583 August 27, 1996 Sanford et al.
5549621 August 27, 1996 Bessler et al.
5549627 August 27, 1996 Kieturakis
5549628 August 27, 1996 Cooper et al.
5549637 August 27, 1996 Crainich
5551622 September 3, 1996 Yoon
5553624 September 10, 1996 Francese et al.
5553675 September 10, 1996 Pitzen et al.
5553765 September 10, 1996 Knodel et al.
5554148 September 10, 1996 Aebischer et al.
5554169 September 10, 1996 Green et al.
5556020 September 17, 1996 Hou
5556416 September 17, 1996 Clark et al.
5558533 September 24, 1996 Hashizawa et al.
5558665 September 24, 1996 Kieturakis
5558671 September 24, 1996 Yates
5560530 October 1, 1996 Bolanos et al.
5560532 October 1, 1996 DeFonzo et al.
5561881 October 8, 1996 Klinger et al.
5562239 October 8, 1996 Boiarski et al.
5562241 October 8, 1996 Knodel et al.
5562682 October 8, 1996 Oberlin et al.
5562690 October 8, 1996 Green et al.
5562701 October 8, 1996 Huitema et al.
5562702 October 8, 1996 Huitema et al.
5563481 October 8, 1996 Krause
5564615 October 15, 1996 Bishop et al.
5569161 October 29, 1996 Ebling et al.
5569270 October 29, 1996 Weng
5569284 October 29, 1996 Young et al.
5571090 November 5, 1996 Sherts
5571100 November 5, 1996 Goble et al.
5571116 November 5, 1996 Bolanos et al.
5571285 November 5, 1996 Chow et al.
5571488 November 5, 1996 Beerstecher et al.
5573169 November 12, 1996 Green et al.
5573543 November 12, 1996 Akopov et al.
5574431 November 12, 1996 McKeown et al.
5575054 November 19, 1996 Klinzing et al.
5575789 November 19, 1996 Bell et al.
5575799 November 19, 1996 Bolanos et al.
5575803 November 19, 1996 Cooper et al.
5575805 November 19, 1996 Li
5577654 November 26, 1996 Bishop
5578052 November 26, 1996 Koros et al.
5579978 December 3, 1996 Green et al.
5580067 December 3, 1996 Hamblin et al.
5582611 December 10, 1996 Tsuruta et al.
5582617 December 10, 1996 Klieman et al.
5582907 December 10, 1996 Pall
5583114 December 10, 1996 Barrows et al.
5584425 December 17, 1996 Savage et al.
5586711 December 24, 1996 Plyley et al.
5588579 December 31, 1996 Schnut et al.
5588580 December 31, 1996 Paul et al.
5588581 December 31, 1996 Conlon et al.
5591170 January 7, 1997 Spievack et al.
5591187 January 7, 1997 Dekel
5597107 January 28, 1997 Knodel et al.
5599151 February 4, 1997 Daum et al.
5599279 February 4, 1997 Slotman et al.
5599344 February 4, 1997 Paterson
5599350 February 4, 1997 Schulze et al.
5599852 February 4, 1997 Scopelianos et al.
5601224 February 11, 1997 Bishop et al.
5601573 February 11, 1997 Fogelberg et al.
5601604 February 11, 1997 Vincent
5602449 February 11, 1997 Krause et al.
5603443 February 18, 1997 Clark et al.
5605272 February 25, 1997 Witt et al.
5605273 February 25, 1997 Hamblin et al.
5607094 March 4, 1997 Clark et al.
5607095 March 4, 1997 Smith et al.
5607433 March 4, 1997 Polla et al.
5607450 March 4, 1997 Zvenyatsky et al.
5607474 March 4, 1997 Athanasiou et al.
5609285 March 11, 1997 Grant et al.
5609601 March 11, 1997 Kolesa et al.
5611709 March 18, 1997 McAnulty
5613499 March 25, 1997 Palmer et al.
5613937 March 25, 1997 Garrison et al.
5613966 March 25, 1997 Makower et al.
5614887 March 25, 1997 Buchbinder
5615820 April 1, 1997 Viola
5618294 April 8, 1997 Aust et al.
5618303 April 8, 1997 Marlow et al.
5618307 April 8, 1997 Donlon et al.
5619992 April 15, 1997 Guthrie et al.
5620289 April 15, 1997 Curry
5620326 April 15, 1997 Younker
5620452 April 15, 1997 Yoon
5624398 April 29, 1997 Smith et al.
5624452 April 29, 1997 Yates
5626587 May 6, 1997 Bishop et al.
5626595 May 6, 1997 Sklar et al.
5628446 May 13, 1997 Geiste et al.
5628743 May 13, 1997 Cimino
5628745 May 13, 1997 Bek
5630539 May 20, 1997 Plyley et al.
5630540 May 20, 1997 Blewett
5630541 May 20, 1997 Williamson, IV et al.
5630782 May 20, 1997 Adair
5632432 May 27, 1997 Schulze et al.
5632433 May 27, 1997 Grant et al.
5633374 May 27, 1997 Humphrey et al.
5634584 June 3, 1997 Okorocha et al.
5636779 June 10, 1997 Palmer
5636780 June 10, 1997 Green et al.
5639008 June 17, 1997 Gallagher et al.
D381077 July 15, 1997 Hunt
5643291 July 1, 1997 Pier et al.
5643294 July 1, 1997 Tovey et al.
5643319 July 1, 1997 Green et al.
5645209 July 8, 1997 Green et al.
5647526 July 15, 1997 Green et al.
5647869 July 15, 1997 Goble et al.
5649937 July 22, 1997 Bito et al.
5649956 July 22, 1997 Jensen et al.
5651491 July 29, 1997 Heaton et al.
5651762 July 29, 1997 Bridges
5651821 July 29, 1997 Uchida
5653373 August 5, 1997 Green et al.
5653374 August 5, 1997 Young et al.
5653677 August 5, 1997 Okada et al.
5653721 August 5, 1997 Knodel et al.
5655698 August 12, 1997 Yoon
5657417 August 12, 1997 Di Troia
5657429 August 12, 1997 Wang et al.
5657921 August 19, 1997 Young et al.
5658238 August 19, 1997 Suzuki et al.
5658281 August 19, 1997 Heard
5658298 August 19, 1997 Vincent et al.
5658300 August 19, 1997 Bito et al.
5658307 August 19, 1997 Exconde
5662258 September 2, 1997 Knodel et al.
5662260 September 2, 1997 Yoon
5662662 September 2, 1997 Bishop et al.
5662667 September 2, 1997 Knodel
5665085 September 9, 1997 Nardella
5667517 September 16, 1997 Hooven
5667526 September 16, 1997 Levin
5667527 September 16, 1997 Cook
5669544 September 23, 1997 Schulze et al.
5669904 September 23, 1997 Platt, Jr. et al.
5669907 September 23, 1997 Platt, Jr. et al.
5669918 September 23, 1997 Balazs et al.
5673840 October 7, 1997 Schulze et al.
5673841 October 7, 1997 Schulze et al.
5673842 October 7, 1997 Bittner et al.
5674286 October 7, 1997 D'Alessio et al.
5678748 October 21, 1997 Plyley et al.
5680981 October 28, 1997 Mililli et al.
5680982 October 28, 1997 Schulze et al.
5680983 October 28, 1997 Plyley et al.
5681341 October 28, 1997 Lunsford et al.
5683349 November 4, 1997 Makower et al.
5685474 November 11, 1997 Seeber
5686090 November 11, 1997 Schilder et al.
5688270 November 18, 1997 Yates et al.
5690269 November 25, 1997 Bolanos et al.
5692668 December 2, 1997 Schulze et al.
5693020 December 2, 1997 Rauh
5693042 December 2, 1997 Boiarski et al.
5693051 December 2, 1997 Schulze et al.
5695494 December 9, 1997 Becker
5695502 December 9, 1997 Pier et al.
5695504 December 9, 1997 Gifford, III et al.
5695524 December 9, 1997 Kelley et al.
5697542 December 16, 1997 Knodel et al.
5697543 December 16, 1997 Burdorff
5697909 December 16, 1997 Eggers et al.
5697943 December 16, 1997 Sauer et al.
5700270 December 23, 1997 Peyser et al.
5700276 December 23, 1997 Benecke
5702387 December 30, 1997 Arts et al.
5702408 December 30, 1997 Wales et al.
5702409 December 30, 1997 Rayburn et al.
5704087 January 6, 1998 Strub
5704534 January 6, 1998 Huitema et al.
5706997 January 13, 1998 Green et al.
5706998 January 13, 1998 Plyley et al.
5707392 January 13, 1998 Kortenbach
5709334 January 20, 1998 Sorrentino et al.
5709335 January 20, 1998 Heck
5709680 January 20, 1998 Yates et al.
5709706 January 20, 1998 Kienzle et al.
5711472 January 27, 1998 Bryan
5712460 January 27, 1998 Carr et al.
5713128 February 3, 1998 Schrenk et al.
5713505 February 3, 1998 Huitema
5713895 February 3, 1998 Lontine et al.
5713896 February 3, 1998 Nardella
5713920 February 3, 1998 Bezwada et al.
5715604 February 10, 1998 Lanzoni
5715987 February 10, 1998 Kelley et al.
5715988 February 10, 1998 Palmer
5716366 February 10, 1998 Yates
5718359 February 17, 1998 Palmer et al.
5718360 February 17, 1998 Green et al.
5718548 February 17, 1998 Cotellessa
5718714 February 17, 1998 Livneh
5720744 February 24, 1998 Eggleston et al.
D393067 March 31, 1998 Geary et al.
5724025 March 3, 1998 Tavori
5725536 March 10, 1998 Oberlin et al.
5725554 March 10, 1998 Simon et al.
5728110 March 17, 1998 Vidal et al.
5728113 March 17, 1998 Sherts
5728121 March 17, 1998 Bimbo et al.
5730758 March 24, 1998 Allgeyer
5732821 March 31, 1998 Stone et al.
5732871 March 31, 1998 Clark et al.
5732872 March 31, 1998 Bolduc et al.
5733308 March 31, 1998 Daugherty et al.
5735445 April 7, 1998 Vidal et al.
5735848 April 7, 1998 Yates et al.
5735874 April 7, 1998 Measamer et al.
5738474 April 14, 1998 Blewett
5738629 April 14, 1998 Moll et al.
5738648 April 14, 1998 Lands et al.
5741271 April 21, 1998 Nakao et al.
5743456 April 28, 1998 Jones et al.
5747953 May 5, 1998 Philipp
5749889 May 12, 1998 Bacich et al.
5749893 May 12, 1998 Vidal et al.
5749968 May 12, 1998 Melanson et al.
5752644 May 19, 1998 Bolanos et al.
5752965 May 19, 1998 Francis et al.
5752970 May 19, 1998 Yoon
5755717 May 26, 1998 Yates et al.
5758814 June 2, 1998 Gallagher et al.
5762255 June 9, 1998 Chrisman et al.
5762256 June 9, 1998 Mastri et al.
5766188 June 16, 1998 Igaki
5766205 June 16, 1998 Zvenyatsky et al.
5769303 June 23, 1998 Knodel et al.
5769748 June 23, 1998 Eyerly et al.
5769791 June 23, 1998 Benaron et al.
5769892 June 23, 1998 Kingwell
5772379 June 30, 1998 Evensen
5772578 June 30, 1998 Heimberger et al.
5772659 June 30, 1998 Becker et al.
5776130 July 7, 1998 Buysse et al.
5778939 July 14, 1998 Hok-Yin
5779130 July 14, 1998 Alesi et al.
5779131 July 14, 1998 Knodel et al.
5779132 July 14, 1998 Knodel et al.
5782396 July 21, 1998 Mastri et al.
5782397 July 21, 1998 Koukline
5782748 July 21, 1998 Palmer et al.
5782749 July 21, 1998 Riza
5782859 July 21, 1998 Nicholas et al.
5784934 July 28, 1998 Izumisawa
5785232 July 28, 1998 Vidal et al.
5785647 July 28, 1998 Tompkins et al.
5787897 August 4, 1998 Kieturakis
5791231 August 11, 1998 Cohn et al.
5792135 August 11, 1998 Madhani et al.
5792162 August 11, 1998 Jolly et al.
5792165 August 11, 1998 Klieman et al.
5792573 August 11, 1998 Pitzen et al.
5794834 August 18, 1998 Hamblin et al.
5796188 August 18, 1998 Bays
5797536 August 25, 1998 Smith et al.
5797537 August 25, 1998 Oberlin et al.
5797538 August 25, 1998 Heaton et al.
5797637 August 25, 1998 Ervin
5797906 August 25, 1998 Rhum et al.
5797927 August 25, 1998 Yoon
5797941 August 25, 1998 Schulze et al.
5797959 August 25, 1998 Castro et al.
5799857 September 1, 1998 Robertson et al.
5800379 September 1, 1998 Edwards
5800423 September 1, 1998 Jensen
5804726 September 8, 1998 Geib et al.
5804936 September 8, 1998 Brodsky et al.
5806676 September 15, 1998 Wasgien
5807376 September 15, 1998 Viola et al.
5807378 September 15, 1998 Jensen et al.
5807393 September 15, 1998 Williamson, IV et al.
5809441 September 15, 1998 McKee
5810721 September 22, 1998 Mueller et al.
5810811 September 22, 1998 Yates et al.
5810846 September 22, 1998 Virnich et al.
5810855 September 22, 1998 Rayburn et al.
5813813 September 29, 1998 Daum et al.
5814055 September 29, 1998 Knodel et al.
5814057 September 29, 1998 Oi et al.
5816471 October 6, 1998 Plyley et al.
5817084 October 6, 1998 Jensen
5817091 October 6, 1998 Nardella et al.
5817093 October 6, 1998 Williamson, IV et al.
5817109 October 6, 1998 McGarry et al.
5817119 October 6, 1998 Klieman et al.
5820009 October 13, 1998 Melling et al.
5823066 October 20, 1998 Huitema et al.
5824333 October 20, 1998 Scopelianos et al.
5826776 October 27, 1998 Schulze et al.
5827271 October 27, 1998 Buysse et al.
5827298 October 27, 1998 Hart et al.
5829662 November 3, 1998 Allen et al.
5830598 November 3, 1998 Patterson
5833690 November 10, 1998 Yates et al.
5833695 November 10, 1998 Yoon
5833696 November 10, 1998 Whitfield et al.
5836503 November 17, 1998 Ehrenfels et al.
5836960 November 17, 1998 Kolesa et al.
5839369 November 24, 1998 Chatterjee et al.
5839639 November 24, 1998 Sauer et al.
5843021 December 1, 1998 Edwards et al.
5843096 December 1, 1998 Igaki et al.
5843097 December 1, 1998 Mayenberger et al.
5843122 December 1, 1998 Riza
5843132 December 1, 1998 Ilvento
5843169 December 1, 1998 Taheri
5846254 December 8, 1998 Schulze et al.
5847566 December 8, 1998 Marritt et al.
5849011 December 15, 1998 Jones et al.
5849020 December 15, 1998 Long et al.
5849023 December 15, 1998 Mericle
5851179 December 22, 1998 Ritson et al.
5853366 December 29, 1998 Dowlatshahi
5855311 January 5, 1999 Hamblin et al.
5855583 January 5, 1999 Wang et al.
5860581 January 19, 1999 Robertson et al.
5860975 January 19, 1999 Goble et al.
5865361 February 2, 1999 Milliman et al.
5865638 February 2, 1999 Trafton
5868361 February 9, 1999 Rinderer
5868760 February 9, 1999 McGuckin, Jr.
5868790 February 9, 1999 Vincent et al.
5871135 February 16, 1999 Williamson, IV et al.
5873885 February 23, 1999 Weidenbenner
5876401 March 2, 1999 Schulze et al.
5878193 March 2, 1999 Wang et al.
5878607 March 9, 1999 Nunes et al.
5878937 March 9, 1999 Green et al.
5878938 March 9, 1999 Bittner et al.
5881777 March 16, 1999 Bassi et al.
5891094 April 6, 1999 Masterson et al.
5891160 April 6, 1999 Williamson, IV et al.
5891558 April 6, 1999 Bell et al.
5893506 April 13, 1999 Powell
5893835 April 13, 1999 Witt et al.
5893878 April 13, 1999 Pierce
5894979 April 20, 1999 Powell
5897552 April 27, 1999 Edwards et al.
5897562 April 27, 1999 Bolanos et al.
5899824 May 4, 1999 Kurtz et al.
5899914 May 4, 1999 Zirps et al.
5901895 May 11, 1999 Heaton et al.
5902312 May 11, 1999 Frater et al.
5903117 May 11, 1999 Gregory
5904647 May 18, 1999 Ouchi
5904693 May 18, 1999 Dicesare et al.
5904702 May 18, 1999 Ek et al.
5906577 May 25, 1999 Beane et al.
5906625 May 25, 1999 Bito et al.
5907211 May 25, 1999 Hall et al.
5908402 June 1, 1999 Blythe
5908427 June 1, 1999 McKean et al.
5909062 June 1, 1999 Krietzman
5911353 June 15, 1999 Bolanos et al.
5915616 June 29, 1999 Viola et al.
5916225 June 29, 1999 Kugel
5918791 July 6, 1999 Sorrentino et al.
5919198 July 6, 1999 Graves, Jr. et al.
5921956 July 13, 1999 Grinberg et al.
5924864 July 20, 1999 Loge et al.
5928137 July 27, 1999 Green
5928256 July 27, 1999 Riza
5931847 August 3, 1999 Bittner et al.
5931853 August 3, 1999 McEwen et al.
5937951 August 17, 1999 Izuchukwu et al.
5938667 August 17, 1999 Peyser et al.
5941442 August 24, 1999 Geiste et al.
5941890 August 24, 1999 Voegele et al.
5944172 August 31, 1999 Hannula
5944715 August 31, 1999 Goble et al.
5946978 September 7, 1999 Yamashita
5947984 September 7, 1999 Whipple
5947996 September 7, 1999 Logeman
5948030 September 7, 1999 Miller et al.
5948429 September 7, 1999 Bell et al.
5951301 September 14, 1999 Younker
5951516 September 14, 1999 Bunyan
5951552 September 14, 1999 Long et al.
5951574 September 14, 1999 Stefanchik et al.
5951581 September 14, 1999 Saadat et al.
5954259 September 21, 1999 Viola et al.
5964394 October 12, 1999 Robertson
5964774 October 12, 1999 McKean et al.
5966126 October 12, 1999 Szabo
5971916 October 26, 1999 Koren
5973221 October 26, 1999 Collyer et al.
D416089 November 2, 1999 Barton et al.
5976122 November 2, 1999 Madhani et al.
5977746 November 2, 1999 Hershberger et al.
5980248 November 9, 1999 Kusakabe et al.
5984949 November 16, 1999 Levin
5988479 November 23, 1999 Palmer
5990379 November 23, 1999 Gregory
5993466 November 30, 1999 Yoon
5997528 December 7, 1999 Bisch et al.
5997552 December 7, 1999 Person et al.
6001108 December 14, 1999 Wang et al.
6003517 December 21, 1999 Sheffield et al.
6004319 December 21, 1999 Goble et al.
6004335 December 21, 1999 Vaitekunas et al.
6007521 December 28, 1999 Bidwell et al.
6010054 January 4, 2000 Johnson et al.
6010513 January 4, 2000 Tormala et al.
6010520 January 4, 2000 Pattison
6012494 January 11, 2000 Balazs
6013076 January 11, 2000 Goble et al.
6015406 January 18, 2000 Goble et al.
6015417 January 18, 2000 Reynolds, Jr.
6017322 January 25, 2000 Snoke et al.
6017354 January 25, 2000 Culp et al.
6017356 January 25, 2000 Frederick et al.
6018227 January 25, 2000 Kumar
6019745 February 1, 2000 Gray
6022352 February 8, 2000 Vandewalle
6023641 February 8, 2000 Thompson
6024708 February 15, 2000 Bales et al.
6024741 February 15, 2000 Williamson, IV et al.
6024748 February 15, 2000 Manzo et al.
6024750 February 15, 2000 Mastri et al.
6024764 February 15, 2000 Schroeppel
6027501 February 22, 2000 Goble et al.
6030384 February 29, 2000 Nezhat
6032849 March 7, 2000 Mastri et al.
6033105 March 7, 2000 Barker et al.
6033378 March 7, 2000 Lundquist et al.
6033399 March 7, 2000 Gines
6033427 March 7, 2000 Lee
6036667 March 14, 2000 Manna et al.
6037724 March 14, 2000 Buss et al.
6037927 March 14, 2000 Rosenberg
6039733 March 21, 2000 Buysse et al.
6039734 March 21, 2000 Goble
6042601 March 28, 2000 Smith
6042607 March 28, 2000 Williamson, IV et al.
6043626 March 28, 2000 Snyder et al.
6045560 April 4, 2000 McKean et al.
6047861 April 11, 2000 Vidal et al.
6049145 April 11, 2000 Austin et al.
6050172 April 18, 2000 Corves et al.
6050472 April 18, 2000 Shibata
6050989 April 18, 2000 Fox et al.
6050990 April 18, 2000 Tankovich et al.
6050996 April 18, 2000 Schmaltz et al.
6053390 April 25, 2000 Green et al.
6053899 April 25, 2000 Slanda et al.
6053922 April 25, 2000 Krause et al.
6054142 April 25, 2000 Li et al.
RE36720 May 30, 2000 Green et al.
6056735 May 2, 2000 Okada et al.
6056746 May 2, 2000 Goble et al.
6059806 May 9, 2000 Hoegerle
6062360 May 16, 2000 Shields
6063025 May 16, 2000 Bridges et al.
6063050 May 16, 2000 Manna et al.
6063095 May 16, 2000 Wang et al.
6063097 May 16, 2000 Oi et al.
6063098 May 16, 2000 Houser et al.
6065679 May 23, 2000 Levie et al.
6065919 May 23, 2000 Peck
6066132 May 23, 2000 Chen et al.
6066151 May 23, 2000 Miyawaki et al.
6068627 May 30, 2000 Orszulak et al.
6071233 June 6, 2000 Ishikawa et al.
6074386 June 13, 2000 Goble et al.
6074401 June 13, 2000 Gardiner et al.
6077280 June 20, 2000 Fossum
6077286 June 20, 2000 Cuschieri et al.
6077290 June 20, 2000 Marini
6079606 June 27, 2000 Milliman et al.
6080181 June 27, 2000 Jensen et al.
6082577 July 4, 2000 Coates et al.
6083191 July 4, 2000 Rose
6083223 July 4, 2000 Baker
6083234 July 4, 2000 Nicholas et al.
6083242 July 4, 2000 Cook
6086544 July 11, 2000 Hibner et al.
6086600 July 11, 2000 Kortenbach
6090106 July 18, 2000 Goble et al.
6093186 July 25, 2000 Goble
6099537 August 8, 2000 Sugai et al.
6099551 August 8, 2000 Gabbay
6102271 August 15, 2000 Longo et al.
6104162 August 15, 2000 Sainsbury et al.
6104304 August 15, 2000 Clark et al.
6106511 August 22, 2000 Jensen
6109500 August 29, 2000 Alli et al.
6110187 August 29, 2000 Donlon
6113618 September 5, 2000 Nic
6117148 September 12, 2000 Ravo et al.
6117158 September 12, 2000 Measamer et al.
6119913 September 19, 2000 Adams et al.
6120433 September 19, 2000 Mizuno et al.
6120462 September 19, 2000 Hibner et al.
6123241 September 26, 2000 Walter et al.
6123701 September 26, 2000 Nezhat
H1904 October 3, 2000 Yates et al.
6126058 October 3, 2000 Adams et al.
6126359 October 3, 2000 Dittrich et al.
6126670 October 3, 2000 Walker et al.
6131789 October 17, 2000 Schulze et al.
6131790 October 17, 2000 Piraka
6132368 October 17, 2000 Cooper
6139546 October 31, 2000 Koenig et al.
6142149 November 7, 2000 Steen
6142933 November 7, 2000 Longo et al.
6147135 November 14, 2000 Yuan et al.
6149660 November 21, 2000 Laufer et al.
6151323 November 21, 2000 O'Connell et al.
6152935 November 28, 2000 Kammerer et al.
6155473 December 5, 2000 Tompkins et al.
6156056 December 5, 2000 Kearns et al.
6157169 December 5, 2000 Lee
6159146 December 12, 2000 El Gazayerli
6159200 December 12, 2000 Verdura et al.
6159224 December 12, 2000 Yoon
6162208 December 19, 2000 Hipps
6162220 December 19, 2000 Nezhat
6162537 December 19, 2000 Martin et al.
6165175 December 26, 2000 Wampler et al.
6165184 December 26, 2000 Verdura et al.
6165188 December 26, 2000 Saadat et al.
6167185 December 26, 2000 Smiley et al.
6168605 January 2, 2001 Measamer et al.
6171305 January 9, 2001 Sherman
6171316 January 9, 2001 Kovac et al.
6171330 January 9, 2001 Benchetrit
6173074 January 9, 2001 Russo
6174308 January 16, 2001 Goble et al.
6174309 January 16, 2001 Wrublewski et al.
6174318 January 16, 2001 Bates et al.
6175290 January 16, 2001 Forsythe et al.
6179195 January 30, 2001 Adams et al.
6179776 January 30, 2001 Adams et al.
6181105 January 30, 2001 Cutolo et al.
6182673 February 6, 2001 Kindermann et al.
6185356 February 6, 2001 Parker et al.
6186142 February 13, 2001 Schmidt et al.
6187003 February 13, 2001 Buysse et al.
6190386 February 20, 2001 Rydell
6193129 February 27, 2001 Bittner et al.
6197042 March 6, 2001 Ginn et al.
6200330 March 13, 2001 Benderev et al.
6202914 March 20, 2001 Geiste et al.
6206894 March 27, 2001 Thompson et al.
6206897 March 27, 2001 Jamiolkowski et al.
6206904 March 27, 2001 Ouchi
6209414 April 3, 2001 Uneme
6210403 April 3, 2001 Klicek
6213999 April 10, 2001 Platt, Jr. et al.
6214028 April 10, 2001 Yoon et al.
6220368 April 24, 2001 Ark et al.
6221007 April 24, 2001 Green
6221023 April 24, 2001 Matsuba et al.
6223100 April 24, 2001 Green
6223835 May 1, 2001 Habedank et al.
6224617 May 1, 2001 Saadat et al.
6228080 May 8, 2001 Gines
6228081 May 8, 2001 Goble
6228083 May 8, 2001 Lands et al.
6228084 May 8, 2001 Kirwan, Jr.
6228089 May 8, 2001 Wahrburg
6228098 May 8, 2001 Kayan et al.
6231565 May 15, 2001 Tovey et al.
6234178 May 22, 2001 Goble et al.
6237604 May 29, 2001 Burnside et al.
6238384 May 29, 2001 Peer
6241139 June 5, 2001 Milliman et al.
6241140 June 5, 2001 Adams et al.
6241723 June 5, 2001 Heim et al.
6245084 June 12, 2001 Mark et al.
6248116 June 19, 2001 Chevillon et al.
6248117 June 19, 2001 Blatter
6249076 June 19, 2001 Madden et al.
6249105 June 19, 2001 Andrews et al.
6250532 June 26, 2001 Green et al.
6251485 June 26, 2001 Harris et al.
6254534 July 3, 2001 Butler et al.
6254619 July 3, 2001 Garabet et al.
6254642 July 3, 2001 Taylor
6258107 July 10, 2001 Balazs et al.
6261286 July 17, 2001 Goble et al.
6261679 July 17, 2001 Chen et al.
6264086 July 24, 2001 McGuckin, Jr.
6264087 July 24, 2001 Whitman
6264617 July 24, 2001 Bales et al.
6270508 August 7, 2001 Klieman et al.
6270916 August 7, 2001 Sink et al.
6273876 August 14, 2001 Klima et al.
6273897 August 14, 2001 Dalessandro et al.
6277114 August 21, 2001 Bullivant et al.
6280407 August 28, 2001 Manna et al.
6293927 September 25, 2001 McGuckin, Jr.
6293942 September 25, 2001 Goble et al.
6296640 October 2, 2001 Wampler et al.
6302311 October 16, 2001 Adams et al.
6302743 October 16, 2001 Chiu et al.
6305891 October 23, 2001 Burlingame
6306134 October 23, 2001 Goble et al.
6306149 October 23, 2001 Meade
6306424 October 23, 2001 Vyakarnam et al.
6309397 October 30, 2001 Julian et al.
6309403 October 30, 2001 Minor et al.
6312435 November 6, 2001 Wallace et al.
6315184 November 13, 2001 Whitman
6319510 November 20, 2001 Yates
6320123 November 20, 2001 Reimers
6322494 November 27, 2001 Bullivant et al.
6324339 November 27, 2001 Hudson et al.
6325799 December 4, 2001 Goble
6325805 December 4, 2001 Ogilvie et al.
6325810 December 4, 2001 Hamilton et al.
6328498 December 11, 2001 Mersch
6330965 December 18, 2001 Milliman et al.
6331181 December 18, 2001 Tierney et al.
6331761 December 18, 2001 Kumar
6333029 December 25, 2001 Vyakarnam et al.
6334860 January 1, 2002 Dorn
6334861 January 1, 2002 Chandler et al.
6336926 January 8, 2002 Goble
6338737 January 15, 2002 Toledano
6343731 February 5, 2002 Adams et al.
6346077 February 12, 2002 Taylor et al.
6348061 February 19, 2002 Whitman
D454951 March 26, 2002 Bon
6352503 March 5, 2002 Matsui et al.
6352532 March 5, 2002 Kramer et al.
6355699 March 12, 2002 Vyakarnam et al.
6356072 March 12, 2002 Chass
6358224 March 19, 2002 Tims et al.
6358263 March 19, 2002 Mark et al.
6358459 March 19, 2002 Ziegler et al.
6364877 April 2, 2002 Goble et al.
6364888 April 2, 2002 Niemeyer et al.
6370981 April 16, 2002 Watarai
6371114 April 16, 2002 Schmidt et al.
6373152 April 16, 2002 Wang et al.
6377011 April 23, 2002 Ben-Ur
6383201 May 7, 2002 Dong
6387092 May 14, 2002 Burnside et al.
6387113 May 14, 2002 Hawkins et al.
6387114 May 14, 2002 Adams
6391038 May 21, 2002 Vargas et al.
6392854 May 21, 2002 O'Gorman
6394998 May 28, 2002 Wallace et al.
6398779 June 4, 2002 Buysse et al.
6398781 June 4, 2002 Goble et al.
6398797 June 4, 2002 Bombard et al.
6402766 June 11, 2002 Bowman et al.
6406440 June 18, 2002 Stefanchik
6406472 June 18, 2002 Jensen
6409724 June 25, 2002 Penny et al.
H2037 July 2, 2002 Yates et al.
6412639 July 2, 2002 Hickey
6413274 July 2, 2002 Pedros
6416486 July 9, 2002 Wampler
6416509 July 9, 2002 Goble et al.
6419695 July 16, 2002 Gabbay
6423079 July 23, 2002 Blake, III
RE37814 August 6, 2002 Allgeyer
6428070 August 6, 2002 Takanashi et al.
6428487 August 6, 2002 Burdorff et al.
6429611 August 6, 2002 Li
6430298 August 6, 2002 Kettl et al.
6432065 August 13, 2002 Burdorff et al.
6436097 August 20, 2002 Nardella
6436107 August 20, 2002 Wang et al.
6436110 August 20, 2002 Bowman et al.
6436122 August 20, 2002 Frank et al.
6439439 August 27, 2002 Rickard et al.
6439446 August 27, 2002 Perry et al.
6440146 August 27, 2002 Nicholas et al.
6441577 August 27, 2002 Blumenkranz et al.
D462758 September 10, 2002 Epstein et al.
6443973 September 3, 2002 Whitman
6445530 September 3, 2002 Baker
6447518 September 10, 2002 Krause et al.
6447523 September 10, 2002 Middleman et al.
6447799 September 10, 2002 Ullman
6447864 September 10, 2002 Johnson et al.
6450391 September 17, 2002 Kayan et al.
6450989 September 17, 2002 Dubrul et al.
6454781 September 24, 2002 Witt et al.
6458077 October 1, 2002 Boebel et al.
6458147 October 1, 2002 Cruise et al.
6460627 October 8, 2002 Below et al.
6468275 October 22, 2002 Wampler et al.
6468286 October 22, 2002 Mastri et al.
6471106 October 29, 2002 Reining
6471659 October 29, 2002 Eggers et al.
6478210 November 12, 2002 Adams et al.
6482200 November 19, 2002 Shippert
6482217 November 19, 2002 Pintor et al.
6485490 November 26, 2002 Wampler et al.
6485503 November 26, 2002 Jacobs et al.
6485667 November 26, 2002 Tan
6486286 November 26, 2002 McGall et al.
6488196 December 3, 2002 Fenton, Jr.
6488197 December 3, 2002 Whitman
6488659 December 3, 2002 Rosenman
6491201 December 10, 2002 Whitman
6491690 December 10, 2002 Goble et al.
6491701 December 10, 2002 Tierney et al.
6492785 December 10, 2002 Kasten et al.
6494885 December 17, 2002 Dhindsa
6494896 December 17, 2002 D'Alessio et al.
6498480 December 24, 2002 Manara
6500176 December 31, 2002 Truckai et al.
6500194 December 31, 2002 Benderev et al.
6503139 January 7, 2003 Coral
6503257 January 7, 2003 Grant et al.
6503259 January 7, 2003 Huxel et al.
6505768 January 14, 2003 Whitman
6506197 January 14, 2003 Rollero et al.
6510854 January 28, 2003 Goble
6511468 January 28, 2003 Cragg et al.
6512360 January 28, 2003 Goto et al.
6514252 February 4, 2003 Nezhat et al.
6516073 February 4, 2003 Schulz et al.
6517528 February 11, 2003 Pantages et al.
6517535 February 11, 2003 Edwards
6517565 February 11, 2003 Whitman et al.
6517566 February 11, 2003 Hovland et al.
6520971 February 18, 2003 Perry et al.
6520972 February 18, 2003 Peters
6522101 February 18, 2003 Malackowski
6524180 February 25, 2003 Simms et al.
6527782 March 4, 2003 Hogg et al.
6527785 March 4, 2003 Sancoff et al.
6532958 March 18, 2003 Buan et al.
6533157 March 18, 2003 Whitman
6533723 March 18, 2003 Lockery et al.
6533784 March 18, 2003 Truckai et al.
6535764 March 18, 2003 Imran et al.
6539816 April 1, 2003 Kogiso et al.
6543456 April 8, 2003 Freeman
6545384 April 8, 2003 Pelrine et al.
6547786 April 15, 2003 Goble
6550546 April 22, 2003 Thurler et al.
6551333 April 22, 2003 Kuhns et al.
6554861 April 29, 2003 Knox et al.
6555770 April 29, 2003 Kawase
6558378 May 6, 2003 Sherman et al.
6558379 May 6, 2003 Batchelor et al.
6558429 May 6, 2003 Taylor
6561187 May 13, 2003 Schmidt et al.
6565560 May 20, 2003 Goble et al.
6566619 May 20, 2003 Gillman et al.
6569085 May 27, 2003 Kortenbach et al.
6569171 May 27, 2003 DeGuillebon et al.
6578751 June 17, 2003 Hartwick
6582364 June 24, 2003 Butler et al.
6582427 June 24, 2003 Goble et al.
6582441 June 24, 2003 He et al.
6583533 June 24, 2003 Pelrine et al.
6585144 July 1, 2003 Adams et al.
6585664 July 1, 2003 Burdorff et al.
6587750 July 1, 2003 Gerbi et al.
6588643 July 8, 2003 Bolduc et al.
6588931 July 8, 2003 Betzner et al.
6589118 July 8, 2003 Soma et al.
6589164 July 8, 2003 Flaherty
6592538 July 15, 2003 Hotchkiss et al.
6592597 July 15, 2003 Grant et al.
6594552 July 15, 2003 Nowlin et al.
6596296 July 22, 2003 Nelson et al.
6596304 July 22, 2003 Bayon et al.
6596432 July 22, 2003 Kawakami et al.
6599323 July 29, 2003 Melican et al.
D478665 August 19, 2003 Isaacs et al.
D478986 August 26, 2003 Johnston et al.
6601749 August 5, 2003 Sullivan et al.
6602252 August 5, 2003 Mollenauer
6602262 August 5, 2003 Griego et al.
6603050 August 5, 2003 Heaton
6605078 August 12, 2003 Adams
6605669 August 12, 2003 Awokola et al.
6605911 August 12, 2003 Klesing
6607475 August 19, 2003 Doyle et al.
6611793 August 26, 2003 Burnside et al.
6613069 September 2, 2003 Boyd et al.
6616686 September 9, 2003 Coleman et al.
6619529 September 16, 2003 Green et al.
6620111 September 16, 2003 Stephens et al.
6620166 September 16, 2003 Wenstrom, Jr. et al.
6625517 September 23, 2003 Bogdanov et al.
6626834 September 30, 2003 Dunne et al.
6629630 October 7, 2003 Adams
6629974 October 7, 2003 Penny et al.
6629988 October 7, 2003 Weadock
6635838 October 21, 2003 Kornelson
6636412 October 21, 2003 Smith
6638108 October 28, 2003 Tachi
6638285 October 28, 2003 Gabbay
6638297 October 28, 2003 Huitema
RE38335 November 25, 2003 Aust et al.
6641528 November 4, 2003 Torii
6644532 November 11, 2003 Green et al.
6645201 November 11, 2003 Utley et al.
6646307 November 11, 2003 Yu et al.
6648816 November 18, 2003 Irion et al.
6648901 November 18, 2003 Fleischman et al.
6652595 November 25, 2003 Nicolo
D484243 December 23, 2003 Ryan et al.
D484595 December 30, 2003 Ryan et al.
D484596 December 30, 2003 Ryan et al.
6656177 December 2, 2003 Truckai et al.
6656193 December 2, 2003 Grant et al.
6659940 December 9, 2003 Adler
6663623 December 16, 2003 Oyama et al.
6663641 December 16, 2003 Kovac et al.
6666854 December 23, 2003 Lange
6666875 December 23, 2003 Sakurai et al.
6667825 December 23, 2003 Lu et al.
6669073 December 30, 2003 Milliman et al.
6670806 December 30, 2003 Wendt et al.
6671185 December 30, 2003 Duval
D484977 January 6, 2004 Ryan et al.
6676660 January 13, 2004 Wampler et al.
6677687 January 13, 2004 Ho et al.
6679269 January 20, 2004 Swanson
6679410 January 20, 2004 Wursch et al.
6681978 January 27, 2004 Geiste et al.
6681979 January 27, 2004 Whitman
6682527 January 27, 2004 Strul
6682528 January 27, 2004 Frazier et al.
6682544 January 27, 2004 Mastri et al.
6685698 February 3, 2004 Morley et al.
6685727 February 3, 2004 Fisher et al.
6689153 February 10, 2004 Skiba
6692507 February 17, 2004 Pugsley et al.
6692692 February 17, 2004 Stetzel
6695198 February 24, 2004 Adams et al.
6695199 February 24, 2004 Whitman
6695774 February 24, 2004 Hale et al.
6696814 February 24, 2004 Henderson et al.
6697048 February 24, 2004 Rosenberg et al.
6698643 March 2, 2004 Whitman
6699177 March 2, 2004 Wang et al.
6699214 March 2, 2004 Gellman
6699235 March 2, 2004 Wallace et al.
6704210 March 9, 2004 Myers
6705503 March 16, 2004 Pedicini et al.
6709445 March 23, 2004 Boebel et al.
6712773 March 30, 2004 Viola
6716223 April 6, 2004 Leopold et al.
6716232 April 6, 2004 Vidal et al.
6716233 April 6, 2004 Whitman
6720734 April 13, 2004 Norris
6722550 April 20, 2004 Ricordi et al.
6722552 April 20, 2004 Fenton, Jr.
6723087 April 20, 2004 O'Neill et al.
6723091 April 20, 2004 Goble et al.
6723109 April 20, 2004 Solingen
6726697 April 27, 2004 Nicholas et al.
6726706 April 27, 2004 Dominguez
6729119 May 4, 2004 Schnipke et al.
6736825 May 18, 2004 Blatter et al.
6736854 May 18, 2004 Vadurro et al.
6740030 May 25, 2004 Martone et al.
6743230 June 1, 2004 Lutze et al.
6744385 June 1, 2004 Kazuya et al.
6747121 June 8, 2004 Gogolewski
6747300 June 8, 2004 Nadd et al.
6749560 June 15, 2004 Konstorum et al.
6749600 June 15, 2004 Levy
6752768 June 22, 2004 Burdorff et al.
6752816 June 22, 2004 Culp et al.
6754959 June 29, 2004 Guiette, III et al.
6755195 June 29, 2004 Lemke et al.
6755338 June 29, 2004 Hahnen et al.
6755843 June 29, 2004 Chung et al.
6756705 June 29, 2004 Pulford, Jr.
6758846 July 6, 2004 Goble et al.
6761685 July 13, 2004 Adams et al.
6762339 July 13, 2004 Klun et al.
6764445 July 20, 2004 Ramans et al.
6766957 July 27, 2004 Matsuura et al.
6767352 July 27, 2004 Field et al.
6767356 July 27, 2004 Kanner et al.
6769590 August 3, 2004 Vresh et al.
6769594 August 3, 2004 Orban, III
6770027 August 3, 2004 Banik et al.
6770070 August 3, 2004 Balbierz
6770072 August 3, 2004 Truckai et al.
6773409 August 10, 2004 Truckai et al.
6773438 August 10, 2004 Knodel et al.
6775575 August 10, 2004 Bommannan et al.
6777838 August 17, 2004 Miekka et al.
6780151 August 24, 2004 Grabover et al.
6780180 August 24, 2004 Goble et al.
6783524 August 31, 2004 Anderson et al.
6786382 September 7, 2004 Hoffman
6786864 September 7, 2004 Matsuura et al.
6786896 September 7, 2004 Madhani et al.
6788018 September 7, 2004 Blumenkranz
6790173 September 14, 2004 Saadat et al.
6793652 September 21, 2004 Whitman et al.
6793661 September 21, 2004 Hamilton et al.
6793663 September 21, 2004 Kneifel et al.
6793669 September 21, 2004 Nakamura et al.
6796921 September 28, 2004 Buck et al.
6802822 October 12, 2004 Dodge
6802843 October 12, 2004 Truckai et al.
6802844 October 12, 2004 Ferree
6805273 October 19, 2004 Bilotti et al.
6806808 October 19, 2004 Watters et al.
6808525 October 26, 2004 Latterell et al.
6810359 October 26, 2004 Sakaguchi
6814741 November 9, 2004 Bowman et al.
6817508 November 16, 2004 Racenet et al.
6817509 November 16, 2004 Geiste et al.
6817974 November 16, 2004 Cooper et al.
6818018 November 16, 2004 Sawhney
6820791 November 23, 2004 Adams
6821273 November 23, 2004 Mollenauer
6821282 November 23, 2004 Perry et al.
6821284 November 23, 2004 Sturtz et al.
6827246 December 7, 2004 Sullivan et al.
6827712 December 7, 2004 Tovey et al.
6827725 December 7, 2004 Batchelor et al.
6828902 December 7, 2004 Casden
6830174 December 14, 2004 Hillstead et al.
6831629 December 14, 2004 Nishino et al.
6832998 December 21, 2004 Goble
6834001 December 21, 2004 Myono
6835173 December 28, 2004 Couvillon, Jr.
6835199 December 28, 2004 McGuckin, Jr. et al.
6835336 December 28, 2004 Watt
6836611 December 28, 2004 Popovic et al.
6837846 January 4, 2005 Jaffe et al.
6837883 January 4, 2005 Moll et al.
6838493 January 4, 2005 Williams et al.
6840423 January 11, 2005 Adams et al.
6841967 January 11, 2005 Kim et al.
6843403 January 18, 2005 Whitman
6843789 January 18, 2005 Goble
6843793 January 18, 2005 Brock et al.
6846307 January 25, 2005 Whitman et al.
6846308 January 25, 2005 Whitman et al.
6846309 January 25, 2005 Whitman et al.
6847190 January 25, 2005 Schaefer et al.
6849071 February 1, 2005 Whitman et al.
6850817 February 1, 2005 Green
6852122 February 8, 2005 Rush
6852330 February 8, 2005 Bowman et al.
6853879 February 8, 2005 Sunaoshi
6858005 February 22, 2005 Ohline et al.
6859882 February 22, 2005 Fung
RE38708 March 1, 2005 Bolanos et al.
D502994 March 15, 2005 Blake, III
6861142 March 1, 2005 Wilkie et al.
6861954 March 1, 2005 Levin
6863668 March 8, 2005 Gillespie et al.
6863694 March 8, 2005 Boyce et al.
6866178 March 15, 2005 Adams et al.
6866671 March 15, 2005 Tierney et al.
6867248 March 15, 2005 Martin et al.
6869430 March 22, 2005 Balbierz et al.
6869435 March 22, 2005 Blake, III
6872214 March 29, 2005 Sonnenschein et al.
6874669 April 5, 2005 Adams et al.
6877647 April 12, 2005 Green et al.
6878106 April 12, 2005 Herrmann
6884392 April 26, 2005 Malkin et al.
6884428 April 26, 2005 Binette et al.
6887710 May 3, 2005 Call et al.
6889116 May 3, 2005 Jinno
6893435 May 17, 2005 Goble
6894140 May 17, 2005 Roby
6899538 May 31, 2005 Matoba
6899593 May 31, 2005 Moeller et al.
6905057 June 14, 2005 Swayze et al.
6905497 June 14, 2005 Truckai et al.
6905498 June 14, 2005 Hooven
6908472 June 21, 2005 Wiener et al.
6911033 June 28, 2005 de Guillebon et al.
6911916 June 28, 2005 Wang et al.
6913579 July 5, 2005 Truckai et al.
6913608 July 5, 2005 Liddicoat et al.
6913613 July 5, 2005 Schwarz et al.
6921397 July 26, 2005 Corcoran et al.
6921412 July 26, 2005 Black et al.
6923093 August 2, 2005 Ullah
6923803 August 2, 2005 Goble
6923819 August 2, 2005 Meade et al.
6926716 August 9, 2005 Baker et al.
6928902 August 16, 2005 Eyssallenne
6929641 August 16, 2005 Goble et al.
6929644 August 16, 2005 Truckai et al.
6931830 August 23, 2005 Liao
6932218 August 23, 2005 Kosann et al.
6932810 August 23, 2005 Ryan
6936042 August 30, 2005 Wallace et al.
6936948 August 30, 2005 Bell et al.
D509297 September 6, 2005 Wells
D509589 September 13, 2005 Wells
6939358 September 6, 2005 Palacios et al.
6942662 September 13, 2005 Goble et al.
6942674 September 13, 2005 Belef et al.
6945444 September 20, 2005 Gresham et al.
6945981 September 20, 2005 Donofrio et al.
6951562 October 4, 2005 Zwirnmann
6953138 October 11, 2005 Dworak et al.
6953139 October 11, 2005 Milliman et al.
6953461 October 11, 2005 McClurken et al.
6957758 October 25, 2005 Aranyi
6958035 October 25, 2005 Friedman et al.
6959851 November 1, 2005 Heinrich
6959852 November 1, 2005 Shelton, IV et al.
6960107 November 1, 2005 Schaub et al.
6960163 November 1, 2005 Ewers et al.
6960220 November 1, 2005 Marino et al.
6962587 November 8, 2005 Johnson et al.
6963792 November 8, 2005 Green
6964363 November 15, 2005 Wales et al.
6966907 November 22, 2005 Goble
6966909 November 22, 2005 Marshall et al.
6968908 November 29, 2005 Tokunaga et al.
6969385 November 29, 2005 Moreyra
6969395 November 29, 2005 Eskuri
6971988 December 6, 2005 Orban, III
6972199 December 6, 2005 Lebouitz et al.
6974435 December 13, 2005 Daw et al.
6974462 December 13, 2005 Sater
6978921 December 27, 2005 Shelton, IV et al.
6978922 December 27, 2005 Bilotti et al.
6981628 January 3, 2006 Wales
6981941 January 3, 2006 Whitman et al.
6981978 January 3, 2006 Gannoe
6984203 January 10, 2006 Tartaglia et al.
6984231 January 10, 2006 Goble et al.
6986451 January 17, 2006 Mastri et al.
6988649 January 24, 2006 Shelton, IV et al.
6988650 January 24, 2006 Schwemberger et al.
6989034 January 24, 2006 Hammer et al.
6990731 January 31, 2006 Haytayan
6990796 January 31, 2006 Schnipke et al.
6993200 January 31, 2006 Tastl et al.
6993413 January 31, 2006 Sunaoshi
6994708 February 7, 2006 Manzo
6995729 February 7, 2006 Govari et al.
6996433 February 7, 2006 Burbank et al.
6997931 February 14, 2006 Sauer et al.
6997935 February 14, 2006 Anderson et al.
6998736 February 14, 2006 Lee et al.
6998816 February 14, 2006 Wieck et al.
7000818 February 21, 2006 Shelton, IV et al.
7000819 February 21, 2006 Swayze et al.
7000911 February 21, 2006 McCormick et al.
7001380 February 21, 2006 Goble
7001408 February 21, 2006 Knodel et al.
7004174 February 28, 2006 Eggers et al.
7007176 February 28, 2006 Goodfellow et al.
7008433 March 7, 2006 Voellmicke et al.
7008435 March 7, 2006 Cummins
7009039 March 7, 2006 Yayon et al.
7011657 March 14, 2006 Truckai et al.
7014640 March 21, 2006 Kemppainen et al.
7018357 March 28, 2006 Emmons
7018390 March 28, 2006 Turovskiy et al.
7021669 April 4, 2006 Lindermeir et al.
7023159 April 4, 2006 Gorti et al.
7025064 April 11, 2006 Wang et al.
7025732 April 11, 2006 Thompson et al.
7025743 April 11, 2006 Mann et al.
7025775 April 11, 2006 Gadberry et al.
7028570 April 18, 2006 Ohta et al.
7029435 April 18, 2006 Nakao
7029439 April 18, 2006 Roberts et al.
7030904 April 18, 2006 Adair et al.
7032798 April 25, 2006 Whitman et al.
7032799 April 25, 2006 Viola et al.
7033356 April 25, 2006 Latterell et al.
7035716 April 25, 2006 Harris et al.
7035762 April 25, 2006 Menard et al.
7036680 May 2, 2006 Flannery
7037314 May 2, 2006 Armstrong
7037344 May 2, 2006 Kagan et al.
7041088 May 9, 2006 Nawrocki et al.
7041102 May 9, 2006 Truckai et al.
7041868 May 9, 2006 Greene et al.
7043852 May 16, 2006 Hayashida et al.
7044350 May 16, 2006 Kameyama et al.
7044352 May 16, 2006 Shelton, IV et al.
7044353 May 16, 2006 Mastri et al.
7046082 May 16, 2006 Komiya et al.
7048687 May 23, 2006 Reuss et al.
7048745 May 23, 2006 Tierney et al.
7052454 May 30, 2006 Taylor
7052494 May 30, 2006 Goble et al.
7052499 May 30, 2006 Steger et al.
7055730 June 6, 2006 Ehrenfels et al.
7055731 June 6, 2006 Shelton, IV et al.
7056284 June 6, 2006 Martone et al.
7056330 June 6, 2006 Gayton
7059331 June 13, 2006 Adams et al.
7059508 June 13, 2006 Shelton, IV et al.
7063671 June 20, 2006 Couvillon, Jr.
7063712 June 20, 2006 Vargas et al.
7064509 June 20, 2006 Fu et al.
7066879 June 27, 2006 Fowler et al.
7066944 June 27, 2006 Laufer et al.
7067038 June 27, 2006 Trokhan et al.
7070083 July 4, 2006 Jankowski
7070559 July 4, 2006 Adams et al.
7070597 July 4, 2006 Truckai et al.
7071287 July 4, 2006 Rhine et al.
7075770 July 11, 2006 Smith
7077856 July 18, 2006 Whitman
7080769 July 25, 2006 Vresh et al.
7081114 July 25, 2006 Rashidi
7083073 August 1, 2006 Yoshie et al.
7083075 August 1, 2006 Swayze et al.
7083571 August 1, 2006 Wang et al.
7083615 August 1, 2006 Peterson et al.
7083619 August 1, 2006 Truckai et al.
7083620 August 1, 2006 Jahns et al.
7083626 August 1, 2006 Hart et al.
7087049 August 8, 2006 Nowlin et al.
7087054 August 8, 2006 Truckai et al.
7087071 August 8, 2006 Nicholas et al.
7090637 August 15, 2006 Danitz et al.
7090673 August 15, 2006 Dycus et al.
7090683 August 15, 2006 Brock et al.
7090684 August 15, 2006 McGuckin, Jr. et al.
7091412 August 15, 2006 Wang et al.
7094202 August 22, 2006 Nobis et al.
7094247 August 22, 2006 Monassevitch et al.
7094916 August 22, 2006 DeLuca et al.
7096972 August 29, 2006 Orozco, Jr.
7097089 August 29, 2006 Marczyk
7097644 August 29, 2006 Long
7097650 August 29, 2006 Weller et al.
7098794 August 29, 2006 Lindsay et al.
7100949 September 5, 2006 Williams et al.
7101187 September 5, 2006 Deconinck et al.
7101394 September 5, 2006 Hamm et al.
7104741 September 12, 2006 Krohn
7108695 September 19, 2006 Witt et al.
7108701 September 19, 2006 Evens et al.
7108709 September 19, 2006 Cummins
7111768 September 26, 2006 Cummins et al.
7111769 September 26, 2006 Wales et al.
7112214 September 26, 2006 Peterson et al.
RE39358 October 17, 2006 Goble
7114642 October 3, 2006 Whitman
7116100 October 3, 2006 Mock et al.
7118020 October 10, 2006 Lee et al.
7118528 October 10, 2006 Piskun
7118563 October 10, 2006 Weckwerth et al.
7118582 October 10, 2006 Wang et al.
7119534 October 10, 2006 Butzmann
7121446 October 17, 2006 Arad et al.
7121773 October 17, 2006 Mikiya et al.
7122028 October 17, 2006 Looper et al.
7125403 October 24, 2006 Julian et al.
7125409 October 24, 2006 Truckai et al.
7126303 October 24, 2006 Farritor et al.
7126879 October 24, 2006 Snyder
7128253 October 31, 2006 Mastri et al.
7128254 October 31, 2006 Shelton, IV et al.
7128748 October 31, 2006 Mooradian et al.
7131445 November 7, 2006 Amoah
7133601 November 7, 2006 Phillips et al.
7134587 November 14, 2006 Schwemberger et al.
7135027 November 14, 2006 Delmotte
7137980 November 21, 2006 Buysse et al.
7137981 November 21, 2006 Long
7139016 November 21, 2006 Squilla et al.
7140527 November 28, 2006 Ehrenfels et al.
7140528 November 28, 2006 Shelton, IV
7141055 November 28, 2006 Abrams et al.
7143923 December 5, 2006 Shelton, IV et al.
7143924 December 5, 2006 Scirica et al.
7143925 December 5, 2006 Shelton, IV et al.
7143926 December 5, 2006 Shelton, IV et al.
7146191 December 5, 2006 Kerner et al.
7147138 December 12, 2006 Shelton, IV
7147139 December 12, 2006 Schwemberger et al.
7147140 December 12, 2006 Wukusick et al.
7147637 December 12, 2006 Goble
7147648 December 12, 2006 Lin
7147650 December 12, 2006 Lee
7150748 December 19, 2006 Ebbutt et al.
7153300 December 26, 2006 Goble
7155316 December 26, 2006 Sutherland et al.
7156863 January 2, 2007 Sonnenschein et al.
7159750 January 9, 2007 Racenet et al.
7160296 January 9, 2007 Pearson et al.
7160299 January 9, 2007 Baily
7161036 January 9, 2007 Oikawa et al.
7161580 January 9, 2007 Bailey et al.
7163563 January 16, 2007 Schwartz et al.
7166133 January 23, 2007 Evans et al.
7168604 January 30, 2007 Milliman et al.
7170910 January 30, 2007 Chen et al.
7171279 January 30, 2007 Buckingham et al.
7172104 February 6, 2007 Scirica et al.
7172593 February 6, 2007 Trieu et al.
7172615 February 6, 2007 Morriss et al.
7174636 February 13, 2007 Lowe
7177533 February 13, 2007 McFarlin et al.
7179223 February 20, 2007 Motoki et al.
7179267 February 20, 2007 Nolan et al.
7182239 February 27, 2007 Myers
7182763 February 27, 2007 Nardella
7183737 February 27, 2007 Kitagawa
7187960 March 6, 2007 Abreu
7188758 March 13, 2007 Viola et al.
7189207 March 13, 2007 Viola
7190147 March 13, 2007 Gileff et al.
7195627 March 27, 2007 Amoah et al.
7196911 March 27, 2007 Takano et al.
D541418 April 24, 2007 Schechter et al.
7199537 April 3, 2007 Okamura et al.
7202576 April 10, 2007 Dechene et al.
7202653 April 10, 2007 Pai
7204404 April 17, 2007 Nguyen et al.
7204835 April 17, 2007 Latterell et al.
7207233 April 24, 2007 Wadge
7207471 April 24, 2007 Heinrich et al.
7207472 April 24, 2007 Wukusick et al.
7207556 April 24, 2007 Saitoh et al.
7208005 April 24, 2007 Frecker et al.
7210609 May 1, 2007 Leiboff et al.
7211081 May 1, 2007 Goble
7211084 May 1, 2007 Goble et al.
7211092 May 1, 2007 Hughett
7211979 May 1, 2007 Khatib et al.
7213736 May 8, 2007 Wales et al.
7214224 May 8, 2007 Goble
7215517 May 8, 2007 Takamatsu
7217285 May 15, 2007 Vargas et al.
7220260 May 22, 2007 Fleming et al.
7220272 May 22, 2007 Weadock
7225959 June 5, 2007 Patton et al.
7225963 June 5, 2007 Scirica
7225964 June 5, 2007 Mastri et al.
7226450 June 5, 2007 Athanasiou et al.
7229408 June 12, 2007 Douglas et al.
7234624 June 26, 2007 Gresham et al.
7235072 June 26, 2007 Sartor et al.
7235089 June 26, 2007 McGuckin, Jr.
7235302 June 26, 2007 Jing et al.
7237708 July 3, 2007 Guy et al.
7238195 July 3, 2007 Viola
7238901 July 3, 2007 Kim et al.
7239657 July 3, 2007 Gunnarsson
7241288 July 10, 2007 Braun
7241289 July 10, 2007 Braun
7246734 July 24, 2007 Shelton, IV
7247161 July 24, 2007 Johnston et al.
7249267 July 24, 2007 Chapuis
7252641 August 7, 2007 Thompson et al.
7252660 August 7, 2007 Kunz
7255012 August 14, 2007 Hedtke
7255696 August 14, 2007 Goble et al.
7256695 August 14, 2007 Hamel et al.
7258262 August 21, 2007 Mastri et al.
7258546 August 21, 2007 Beier et al.
7260431 August 21, 2007 Libbus et al.
7265374 September 4, 2007 Lee et al.
7267677 September 11, 2007 Johnson et al.
7267679 September 11, 2007 McGuckin, Jr. et al.
7272002 September 18, 2007 Drapeau
7273483 September 25, 2007 Wiener et al.
7275674 October 2, 2007 Racenet et al.
7276044 October 2, 2007 Ferry et al.
7276068 October 2, 2007 Johnson et al.
7278562 October 9, 2007 Mastri et al.
7278563 October 9, 2007 Green
7278949 October 9, 2007 Bader
7278994 October 9, 2007 Goble
7282048 October 16, 2007 Goble et al.
7286850 October 23, 2007 Frielink et al.
7287682 October 30, 2007 Ezzat et al.
7289139 October 30, 2007 Amling et al.
7293685 November 13, 2007 Ehrenfels et al.
7295893 November 13, 2007 Sunaoshi
7295907 November 13, 2007 Lu et al.
7296722 November 20, 2007 Ivanko
7296724 November 20, 2007 Green et al.
7297149 November 20, 2007 Vitali et al.
7300373 November 27, 2007 Jinno et al.
7300450 November 27, 2007 Vleugels et al.
7303106 December 4, 2007 Milliman et al.
7303107 December 4, 2007 Milliman et al.
7303108 December 4, 2007 Shelton, IV
7303502 December 4, 2007 Thompson
7303556 December 4, 2007 Metzger
7306597 December 11, 2007 Manzo
7308998 December 18, 2007 Mastri et al.
7311238 December 25, 2007 Liu
7313430 December 25, 2007 Urquhart et al.
7314473 January 1, 2008 Jinno et al.
7322859 January 29, 2008 Evans
7322975 January 29, 2008 Goble et al.
7322994 January 29, 2008 Nicholas et al.
7324572 January 29, 2008 Chang
7326203 February 5, 2008 Papineau et al.
7326213 February 5, 2008 Benderev et al.
7328828 February 12, 2008 Ortiz et al.
7328829 February 12, 2008 Arad et al.
7330004 February 12, 2008 DeJonge et al.
7331340 February 19, 2008 Barney
7331343 February 19, 2008 Schmidt et al.
7331403 February 19, 2008 Berry et al.
7331406 February 19, 2008 Wottreng, Jr. et al.
7331969 February 19, 2008 Inganas et al.
7334717 February 26, 2008 Rethy et al.
7334718 February 26, 2008 McAlister et al.
7335199 February 26, 2008 Goble et al.
7336045 February 26, 2008 Clermonts
7336048 February 26, 2008 Lohr
7336184 February 26, 2008 Smith et al.
7337774 March 4, 2008 Webb
7338505 March 4, 2008 Belson
7338513 March 4, 2008 Lee et al.
7341555 March 11, 2008 Ootawara et al.
7341591 March 11, 2008 Grinberg
7343920 March 18, 2008 Toby et al.
7344532 March 18, 2008 Goble et al.
7344533 March 18, 2008 Pearson et al.
7346344 March 18, 2008 Fontaine
7346406 March 18, 2008 Brotto et al.
7348763 March 25, 2008 Reinhart et al.
7348875 March 25, 2008 Hughes et al.
RE40237 April 15, 2008 Bilotti et al.
7351258 April 1, 2008 Ricotta et al.
7354447 April 8, 2008 Shelton, IV et al.
7354502 April 8, 2008 Polat et al.
7357287 April 15, 2008 Shelton, IV et al.
7357806 April 15, 2008 Rivera et al.
7361168 April 22, 2008 Makower et al.
7361195 April 22, 2008 Schwartz et al.
7362062 April 22, 2008 Schneider et al.
7364060 April 29, 2008 Milliman
7364061 April 29, 2008 Swayze et al.
7368124 May 6, 2008 Chun et al.
7371210 May 13, 2008 Brock et al.
7371403 May 13, 2008 McCarthy et al.
7377918 May 27, 2008 Amoah
7377928 May 27, 2008 Zubik et al.
7380695 June 3, 2008 Doll et al.
7380696 June 3, 2008 Shelton, IV et al.
7384403 June 10, 2008 Sherman
7384417 June 10, 2008 Cucin
7386365 June 10, 2008 Nixon
7386730 June 10, 2008 Uchikubo
7388217 June 17, 2008 Buschbeck et al.
7388484 June 17, 2008 Hsu
7391173 June 24, 2008 Schena
7394190 July 1, 2008 Huang
7396356 July 8, 2008 Mollenauer
7397364 July 8, 2008 Govari
7398707 July 15, 2008 Morley et al.
7398907 July 15, 2008 Racenet et al.
7398908 July 15, 2008 Holsten et al.
7400107 July 15, 2008 Schneider et al.
7400752 July 15, 2008 Zacharias
7401000 July 15, 2008 Nakamura
7401721 July 22, 2008 Holsten et al.
7404449 July 29, 2008 Bermingham et al.
7404508 July 29, 2008 Smith et al.
7404509 July 29, 2008 Ortiz et al.
7404822 July 29, 2008 Viart et al.
7407074 August 5, 2008 Ortiz et al.
7407075 August 5, 2008 Holsten et al.
7407076 August 5, 2008 Racenet et al.
7407077 August 5, 2008 Ortiz et al.
7407078 August 5, 2008 Shelton, IV et al.
7408310 August 5, 2008 Hong et al.
7410085 August 12, 2008 Wolf et al.
7410086 August 12, 2008 Ortiz et al.
7410483 August 12, 2008 Danitz et al.
7413563 August 19, 2008 Corcoran et al.
7416101 August 26, 2008 Shelton, IV et al.
7418078 August 26, 2008 Blanz et al.
RE40514 September 23, 2008 Mastri et al.
7419080 September 2, 2008 Smith et al.
7419081 September 2, 2008 Ehrenfels et al.
7419321 September 2, 2008 Tereschouk
7419495 September 2, 2008 Menn et al.
7422136 September 9, 2008 Marczyk
7422138 September 9, 2008 Bilotti et al.
7422139 September 9, 2008 Shelton, IV et al.
7424965 September 16, 2008 Racenet et al.
7427607 September 23, 2008 Suzuki
D578644 October 14, 2008 Shumer et al.
7431188 October 7, 2008 Marczyk
7431189 October 7, 2008 Shelton, IV et al.
7431230 October 7, 2008 McPherson et al.
7431694 October 7, 2008 Stefanchik et al.
7431730 October 7, 2008 Viola
7434715 October 14, 2008 Shelton, IV et al.
7434717 October 14, 2008 Shelton, IV et al.
7435249 October 14, 2008 Buysse et al.
7438209 October 21, 2008 Hess et al.
7438718 October 21, 2008 Milliman et al.
7439354 October 21, 2008 Lenges et al.
7441684 October 28, 2008 Shelton, IV et al.
7441685 October 28, 2008 Boudreaux
7442201 October 28, 2008 Pugsley et al.
7443547 October 28, 2008 Moreno et al.
7448525 November 11, 2008 Shelton, IV et al.
7451904 November 18, 2008 Shelton, IV
7455208 November 25, 2008 Wales et al.
7455676 November 25, 2008 Holsten et al.
7455682 November 25, 2008 Viola
7461767 December 9, 2008 Viola et al.
7462187 December 9, 2008 Johnston et al.
7464845 December 16, 2008 Chou
7464846 December 16, 2008 Shelton, IV et al.
7464847 December 16, 2008 Viola et al.
7464849 December 16, 2008 Shelton, IV et al.
7467740 December 23, 2008 Shelton, IV et al.
7467849 December 23, 2008 Silverbrook et al.
7472814 January 6, 2009 Mastri et al.
7472815 January 6, 2009 Shelton, IV et al.
7472816 January 6, 2009 Holsten et al.
7473221 January 6, 2009 Ewers et al.
7473253 January 6, 2009 Dycus et al.
7473263 January 6, 2009 Johnston et al.
7476237 January 13, 2009 Taniguchi et al.
7479608 January 20, 2009 Smith
7481347 January 27, 2009 Roy
7481348 January 27, 2009 Marczyk
7481349 January 27, 2009 Holsten et al.
7481824 January 27, 2009 Boudreaux et al.
7485124 February 3, 2009 Kuhns et al.
7485133 February 3, 2009 Cannon et al.
7485142 February 3, 2009 Milo
7487899 February 10, 2009 Shelton, IV et al.
7489055 February 10, 2009 Jeong et al.
7490749 February 17, 2009 Schall et al.
7491232 February 17, 2009 Bolduc et al.
7494039 February 24, 2009 Racenet et al.
7494499 February 24, 2009 Nagase et al.
7494501 February 24, 2009 Ahlberg et al.
7500979 March 10, 2009 Hueil et al.
7501198 March 10, 2009 Barlev et al.
7503474 March 17, 2009 Hillstead et al.
7506790 March 24, 2009 Shelton, IV
7506791 March 24, 2009 Omaits et al.
7507202 March 24, 2009 Schoellhorn
7510107 March 31, 2009 Timm et al.
7510534 March 31, 2009 Burdorff et al.
7510566 March 31, 2009 Jacobs et al.
7513407 April 7, 2009 Chang
7513408 April 7, 2009 Shelton, IV et al.
7517356 April 14, 2009 Heinrich
7524320 April 28, 2009 Tierney et al.
7527632 May 5, 2009 Houghton et al.
7530984 May 12, 2009 Sonnenschein et al.
7530985 May 12, 2009 Takemoto et al.
7533906 May 19, 2009 Luettgen et al.
7534259 May 19, 2009 Lashinski et al.
7540867 June 2, 2009 Jinno et al.
7542807 June 2, 2009 Bertolero et al.
7546939 June 16, 2009 Adams et al.
7546940 June 16, 2009 Milliman et al.
7547312 June 16, 2009 Bauman et al.
7549563 June 23, 2009 Mather et al.
7549564 June 23, 2009 Boudreaux
7549998 June 23, 2009 Braun
7552854 June 30, 2009 Wixey et al.
7553173 June 30, 2009 Kowalick
7553275 June 30, 2009 Padget et al.
7554343 June 30, 2009 Bromfield
7556185 July 7, 2009 Viola
7556186 July 7, 2009 Milliman
7556647 July 7, 2009 Drews et al.
7559449 July 14, 2009 Viola
7559450 July 14, 2009 Wales et al.
7559452 July 14, 2009 Wales et al.
7559937 July 14, 2009 de la Torre et al.
7561637 July 14, 2009 Jonsson et al.
7562910 July 21, 2009 Kertesz et al.
7563269 July 21, 2009 Hashiguchi
7563862 July 21, 2009 Sieg et al.
7565993 July 28, 2009 Milliman et al.
7566300 July 28, 2009 Devierre et al.
7567045 July 28, 2009 Fristedt
7568603 August 4, 2009 Shelton, IV et al.
7568604 August 4, 2009 Ehrenfels et al.
7568619 August 4, 2009 Todd et al.
7575144 August 18, 2009 Ortiz et al.
7578825 August 25, 2009 Huebner
7583063 September 1, 2009 Dooley
7586289 September 8, 2009 Andruk et al.
7588174 September 15, 2009 Holsten et al.
7588175 September 15, 2009 Timm et al.
7588176 September 15, 2009 Timm et al.
7588177 September 15, 2009 Racenet
7591783 September 22, 2009 Boulais et al.
7591818 September 22, 2009 Bertolero et al.
7593766 September 22, 2009 Faber et al.
7597229 October 6, 2009 Boudreaux et al.
7597230 October 6, 2009 Racenet et al.
7597693 October 6, 2009 Garrison
7597699 October 6, 2009 Rogers
7598972 October 6, 2009 Tomita
7600663 October 13, 2009 Green
7604150 October 20, 2009 Boudreaux
7604151 October 20, 2009 Hess et al.
7604668 October 20, 2009 Farnsworth et al.
7607557 October 27, 2009 Shelton, IV et al.
7611038 November 3, 2009 Racenet et al.
7611474 November 3, 2009 Hibner et al.
7615003 November 10, 2009 Stefanchik et al.
7615067 November 10, 2009 Lee et al.
7617961 November 17, 2009 Viola
7624902 December 1, 2009 Marczyk et al.
7624903 December 1, 2009 Green et al.
7625370 December 1, 2009 Hart et al.
7630841 December 8, 2009 Comisky et al.
7631793 December 15, 2009 Rethy et al.
7631794 December 15, 2009 Rethy et al.
7635074 December 22, 2009 Olson et al.
7635922 December 22, 2009 Becker
7637409 December 29, 2009 Marczyk
7637410 December 29, 2009 Marczyk
7638958 December 29, 2009 Philipp et al.
7641091 January 5, 2010 Olson et al.
7641092 January 5, 2010 Kruszynski et al.
7641093 January 5, 2010 Doll et al.
7641095 January 5, 2010 Viola
7641671 January 5, 2010 Crainich
7644783 January 12, 2010 Roberts et al.
7644848 January 12, 2010 Swayze et al.
7645230 January 12, 2010 Mikkaichi et al.
7648457 January 19, 2010 Stefanchik et al.
7648519 January 19, 2010 Lee et al.
7650185 January 19, 2010 Maile et al.
7651017 January 26, 2010 Ortiz et al.
7651498 January 26, 2010 Shifrin et al.
7654431 February 2, 2010 Hueil et al.
7655004 February 2, 2010 Long
7655288 February 2, 2010 Bauman et al.
7655584 February 2, 2010 Biran et al.
7656131 February 2, 2010 Embrey et al.
7658311 February 9, 2010 Boudreaux
7658312 February 9, 2010 Vidal et al.
7658705 February 9, 2010 Melvin et al.
7659219 February 9, 2010 Biran et al.
7662161 February 16, 2010 Briganti et al.
7665646 February 23, 2010 Prommersberger
7665647 February 23, 2010 Shelton, IV et al.
7669746 March 2, 2010 Shelton, IV
7669747 March 2, 2010 Weisenburgh, II et al.
7670334 March 2, 2010 Hueil et al.
7673780 March 9, 2010 Shelton, IV et al.
7673781 March 9, 2010 Swayze et al.
7673782 March 9, 2010 Hess et al.
7673783 March 9, 2010 Morgan et al.
7674253 March 9, 2010 Fisher et al.
7674255 March 9, 2010 Braun
7674263 March 9, 2010 Ryan
7674270 March 9, 2010 Layer
7682307 March 23, 2010 Danitz et al.
7682367 March 23, 2010 Shah et al.
7682686 March 23, 2010 Curro et al.
7686201 March 30, 2010 Csiky
7686804 March 30, 2010 Johnson et al.
7686826 March 30, 2010 Lee et al.
7688028 March 30, 2010 Phillips et al.
7691098 April 6, 2010 Wallace et al.
7691103 April 6, 2010 Fernandez et al.
7691106 April 6, 2010 Schenberger et al.
7694864 April 13, 2010 Okada et al.
7694865 April 13, 2010 Scirica
7695485 April 13, 2010 Whitman et al.
7699204 April 20, 2010 Viola
7699835 April 20, 2010 Lee et al.
7699844 April 20, 2010 Utley et al.
7699846 April 20, 2010 Ryan
7699856 April 20, 2010 Van Wyk et al.
7699859 April 20, 2010 Bombard et al.
7699860 April 20, 2010 Huitema et al.
7703653 April 27, 2010 Shah et al.
7705559 April 27, 2010 Powell et al.
7708180 May 4, 2010 Murray et al.
7708181 May 4, 2010 Cole et al.
7708182 May 4, 2010 Viola
7708758 May 4, 2010 Lee et al.
7712182 May 11, 2010 Zeiler et al.
7713190 May 11, 2010 Brock et al.
7714239 May 11, 2010 Smith
7714334 May 11, 2010 Lin
7717312 May 18, 2010 Beetel
7717313 May 18, 2010 Criscuolo et al.
7717846 May 18, 2010 Zirps et al.
7717873 May 18, 2010 Swick
7717915 May 18, 2010 Miyazawa
7718180 May 18, 2010 Karp
7718556 May 18, 2010 Matsuda et al.
7721930 May 25, 2010 McKenna et al.
7721931 May 25, 2010 Shelton, IV et al.
7721933 May 25, 2010 Ehrenfels et al.
7721934 May 25, 2010 Shelton, IV et al.
7721936 May 25, 2010 Shalton, IV et al.
7722527 May 25, 2010 Bouchier et al.
7722607 May 25, 2010 Dumbauld et al.
7722610 May 25, 2010 Viola et al.
7725214 May 25, 2010 Diolaiti
7726171 June 1, 2010 Langlotz et al.
7726537 June 1, 2010 Olson et al.
7726538 June 1, 2010 Holsten et al.
7726539 June 1, 2010 Holsten et al.
7727954 June 1, 2010 McKay
7729742 June 1, 2010 Govari
7731072 June 8, 2010 Timm et al.
7731073 June 8, 2010 Wixey et al.
7731724 June 8, 2010 Huitema et al.
7735703 June 15, 2010 Morgan et al.
7736254 June 15, 2010 Schena
7736306 June 15, 2010 Brustad et al.
7736374 June 15, 2010 Vaughan et al.
7738971 June 15, 2010 Swayze et al.
7740159 June 22, 2010 Shelton, IV et al.
7742036 June 22, 2010 Grant et al.
7743960 June 29, 2010 Whitman et al.
7744624 June 29, 2010 Bettuchi
7744627 June 29, 2010 Orban, III et al.
7744628 June 29, 2010 Viola
7747146 June 29, 2010 Milano et al.
7748587 July 6, 2010 Haramiishi et al.
7748632 July 6, 2010 Coleman et al.
7749204 July 6, 2010 Dhanaraj et al.
7751870 July 6, 2010 Whitman
7753245 July 13, 2010 Boudreaux et al.
7753246 July 13, 2010 Scirica
7753904 July 13, 2010 Shelton, IV et al.
7757924 July 20, 2010 Gerbi et al.
7758612 July 20, 2010 Shipp
7762462 July 27, 2010 Gelbman
7762998 July 27, 2010 Birk et al.
7766207 August 3, 2010 Mather et al.
7766209 August 3, 2010 Baxter, III et al.
7766210 August 3, 2010 Shelton, IV et al.
7766821 August 3, 2010 Brunnen et al.
7766894 August 3, 2010 Weitzner et al.
7770658 August 10, 2010 Ito et al.
7770773 August 10, 2010 Whitman et al.
7770774 August 10, 2010 Mastri et al.
7770775 August 10, 2010 Shelton, IV et al.
7770776 August 10, 2010 Chen et al.
7771396 August 10, 2010 Stefanchik et al.
7772720 August 10, 2010 McGee et al.
7772725 August 10, 2010 Siman-Tov
7775972 August 17, 2010 Brock et al.
7776037 August 17, 2010 Odom
7776060 August 17, 2010 Mooradian et al.
7776065 August 17, 2010 Griffiths et al.
7778004 August 17, 2010 Nerheim et al.
7779737 August 24, 2010 Newman, Jr. et al.
7780054 August 24, 2010 Wales
7780055 August 24, 2010 Scirica et al.
7780309 August 24, 2010 McMillan et al.
7780663 August 24, 2010 Yates et al.
7780685 August 24, 2010 Hunt et al.
7784662 August 31, 2010 Wales et al.
7784663 August 31, 2010 Shelton, IV
7787256 August 31, 2010 Chan et al.
7789283 September 7, 2010 Shah
7789875 September 7, 2010 Brock et al.
7789883 September 7, 2010 Takashino et al.
7789889 September 7, 2010 Zubik et al.
7793812 September 14, 2010 Moore et al.
7794475 September 14, 2010 Hess et al.
7798386 September 21, 2010 Schall et al.
7799039 September 21, 2010 Shelton, IV et al.
7799044 September 21, 2010 Johnston et al.
7799965 September 21, 2010 Patel et al.
7803151 September 28, 2010 Whitman
7806871 October 5, 2010 Li et al.
7806891 October 5, 2010 Nowlin et al.
7810690 October 12, 2010 Bilotti et al.
7810691 October 12, 2010 Boyden et al.
7810692 October 12, 2010 Hall et al.
7810693 October 12, 2010 Broehl et al.
7811275 October 12, 2010 Birk et al.
7814816 October 19, 2010 Alberti et al.
7815092 October 19, 2010 Whitman et al.
7815565 October 19, 2010 Stefanchik et al.
7815662 October 19, 2010 Spivey et al.
7819296 October 26, 2010 Hueil et al.
7819297 October 26, 2010 Doll et al.
7819298 October 26, 2010 Hall et al.
7819299 October 26, 2010 Shelton, IV et al.
7819799 October 26, 2010 Merril et al.
7819884 October 26, 2010 Lee et al.
7819886 October 26, 2010 Whitfield et al.
7823592 November 2, 2010 Bettuchi et al.
7823760 November 2, 2010 Zemlok et al.
7824401 November 2, 2010 Manzo et al.
7824422 November 2, 2010 Benchetrit
7824426 November 2, 2010 Racenet et al.
7828189 November 9, 2010 Holsten et al.
7828794 November 9, 2010 Sartor
7828808 November 9, 2010 Hinman et al.
7831292 November 9, 2010 Quaid et al.
7832408 November 16, 2010 Shelton, IV et al.
7832611 November 16, 2010 Boyden et al.
7832612 November 16, 2010 Baxter, III et al.
7833234 November 16, 2010 Bailly et al.
7835823 November 16, 2010 Sillman et al.
7836400 November 16, 2010 May et al.
7837079 November 23, 2010 Holsten et al.
7837080 November 23, 2010 Schwemberger
7837081 November 23, 2010 Holsten et al.
7837425 November 23, 2010 Saeki et al.
7837685 November 23, 2010 Weinberg et al.
7837694 November 23, 2010 Tethrake et al.
7838789 November 23, 2010 Stoffers et al.
7839109 November 23, 2010 Carmen, Jr. et al.
7841503 November 30, 2010 Sonnenschein et al.
7842025 November 30, 2010 Coleman et al.
7842028 November 30, 2010 Lee
7843158 November 30, 2010 Frisco
7845533 December 7, 2010 Marczyk et al.
7845534 December 7, 2010 Viola et al.
7845535 December 7, 2010 Scircia
7845536 December 7, 2010 Viola et al.
7846085 December 7, 2010 Silverman et al.
7846149 December 7, 2010 Jankowski
7848066 December 7, 2010 Yanagishima
7850623 December 14, 2010 Griffin et al.
7850642 December 14, 2010 Moll et al.
7850982 December 14, 2010 Stopek et al.
7854735 December 21, 2010 Houser et al.
7854736 December 21, 2010 Ryan
7857183 December 28, 2010 Shelton, IV
7857184 December 28, 2010 Viola
7857185 December 28, 2010 Swayze et al.
7857186 December 28, 2010 Baxter, III et al.
7857813 December 28, 2010 Schmitz et al.
7861906 January 4, 2011 Doll et al.
7862502 January 4, 2011 Pool et al.
7862546 January 4, 2011 Conlon et al.
7862579 January 4, 2011 Ortiz et al.
7866525 January 11, 2011 Scirica
7866527 January 11, 2011 Hall et al.
7866528 January 11, 2011 Olson et al.
7870989 January 18, 2011 Viola et al.
7871418 January 18, 2011 Thompson et al.
7871440 January 18, 2011 Schwartz et al.
7875055 January 25, 2011 Cichocki, Jr.
7879063 February 1, 2011 Khosravi
7879070 February 1, 2011 Ortiz et al.
7883461 February 8, 2011 Albrecht et al.
7883465 February 8, 2011 Donofrio et al.
7886951 February 15, 2011 Hessler
7886952 February 15, 2011 Scirica et al.
7887530 February 15, 2011 Zemlok et al.
7887535 February 15, 2011 Lands et al.
7887536 February 15, 2011 Johnson et al.
7887563 February 15, 2011 Cummins
7891531 February 22, 2011 Ward
7891532 February 22, 2011 Mastri et al.
7892200 February 22, 2011 Birk et al.
7892245 February 22, 2011 Liddicoat et al.
7893586 February 22, 2011 West et al.
7896214 March 1, 2011 Farascioni
7896215 March 1, 2011 Adams et al.
7896869 March 1, 2011 DiSilvestro et al.
7896877 March 1, 2011 Hall et al.
7896895 March 1, 2011 Boudreaux et al.
7896897 March 1, 2011 Gresham et al.
7898198 March 1, 2011 Murphree
7900805 March 8, 2011 Shelton, IV et al.
7900806 March 8, 2011 Chen et al.
7901381 March 8, 2011 Birk et al.
7905380 March 15, 2011 Shelton, IV et al.
7905381 March 15, 2011 Baxter, III et al.
7905881 March 15, 2011 Masuda et al.
7905889 March 15, 2011 Catanese, III et al.
7905890 March 15, 2011 Whitfield et al.
7905902 March 15, 2011 Huitema et al.
7909039 March 22, 2011 Hur
7909191 March 22, 2011 Baker et al.
7909220 March 22, 2011 Viola
7909221 March 22, 2011 Viola et al.
7909224 March 22, 2011 Prommersberger
7913891 March 29, 2011 Doll et al.
7913893 March 29, 2011 Mastri et al.
7914543 March 29, 2011 Roth et al.
7914551 March 29, 2011 Ortiz et al.
7918230 April 5, 2011 Whitman et al.
7918376 April 5, 2011 Knodel et al.
7918377 April 5, 2011 Measamer et al.
7918845 April 5, 2011 Saadat et al.
7918848 April 5, 2011 Lau et al.
7918861 April 5, 2011 Brock et al.
7918867 April 5, 2011 Dana et al.
7922061 April 12, 2011 Shelton, IV et al.
7922063 April 12, 2011 Zemlok et al.
7922743 April 12, 2011 Heinrich et al.
7923144 April 12, 2011 Kohn et al.
7926691 April 19, 2011 Viola et al.
7927328 April 19, 2011 Orszulak et al.
7928281 April 19, 2011 Augustine
7930040 April 19, 2011 Kelsch et al.
7930065 April 19, 2011 Larkin et al.
7931660 April 26, 2011 Aranyi et al.
7931695 April 26, 2011 Ringeisen
7931877 April 26, 2011 Steffens et al.
7934630 May 3, 2011 Shelton, IV et al.
7934631 May 3, 2011 Balbierz et al.
7934896 May 3, 2011 Schnier
7935773 May 3, 2011 Hadba et al.
7936142 May 3, 2011 Otsuka et al.
7938307 May 10, 2011 Bettuchi
7941865 May 10, 2011 Seman, Jr. et al.
7942303 May 17, 2011 Shah
7942890 May 17, 2011 D'Agostino et al.
7944175 May 17, 2011 Mori et al.
7945792 May 17, 2011 Cherpantier
7945798 May 17, 2011 Carlson et al.
7946453 May 24, 2011 Voegele et al.
7947011 May 24, 2011 Birk et al.
7950560 May 31, 2011 Zemlok et al.
7950561 May 31, 2011 Aranyi
7951071 May 31, 2011 Whitman et al.
7951166 May 31, 2011 Orban, III et al.
7954682 June 7, 2011 Giordano et al.
7954684 June 7, 2011 Boudreaux
7954685 June 7, 2011 Viola
7954686 June 7, 2011 Baxter, III et al.
7954687 June 7, 2011 Zemlok et al.
7955253 June 7, 2011 Ewers et al.
7955257 June 7, 2011 Frasier et al.
7955322 June 7, 2011 Devengenzo et al.
7955327 June 7, 2011 Sartor et al.
7955380 June 7, 2011 Chu et al.
7959050 June 14, 2011 Smith et al.
7959051 June 14, 2011 Smith et al.
7959052 June 14, 2011 Sonnenschein et al.
7963432 June 21, 2011 Knodel et al.
7963433 June 21, 2011 Whitman et al.
7963913 June 21, 2011 Devengenzo et al.
7963963 June 21, 2011 Francischelli et al.
7963964 June 21, 2011 Santilli et al.
7964206 June 21, 2011 Suokas et al.
7966236 June 21, 2011 Noriega et al.
7966799 June 28, 2011 Morgan et al.
7967178 June 28, 2011 Scirica et al.
7967179 June 28, 2011 Olson et al.
7967180 June 28, 2011 Scirica
7967181 June 28, 2011 Viola et al.
7967791 June 28, 2011 Franer et al.
7967839 June 28, 2011 Flock et al.
7972298 July 5, 2011 Wallace et al.
7972315 July 5, 2011 Birk et al.
7976213 July 12, 2011 Bertolotti et al.
7976563 July 12, 2011 Summerer
7979137 July 12, 2011 Tracey et al.
7980443 July 19, 2011 Scheib et al.
7981132 July 19, 2011 Dubrul et al.
7987405 July 26, 2011 Turner et al.
7988015 August 2, 2011 Mason, II et al.
7988026 August 2, 2011 Knodel et al.
7988027 August 2, 2011 Olson et al.
7988028 August 2, 2011 Farascioni et al.
7988779 August 2, 2011 Disalvo et al.
7992757 August 9, 2011 Wheeler et al.
7993360 August 9, 2011 Hacker et al.
7994670 August 9, 2011 Ji
7997054 August 16, 2011 Bertsch et al.
7997468 August 16, 2011 Farascioni
7997469 August 16, 2011 Olson et al.
8002696 August 23, 2011 Suzuki
8002784 August 23, 2011 Jinno et al.
8002785 August 23, 2011 Weiss et al.
8002795 August 23, 2011 Beetel
8006365 August 30, 2011 Levin et al.
8006885 August 30, 2011 Marczyk
8006889 August 30, 2011 Adams et al.
8007370 August 30, 2011 Hirsch et al.
8007465 August 30, 2011 Birk et al.
8007479 August 30, 2011 Birk et al.
8007511 August 30, 2011 Brock et al.
8007513 August 30, 2011 Nalagatla et al.
8011550 September 6, 2011 Aranyi et al.
8011551 September 6, 2011 Marczyk et al.
8011553 September 6, 2011 Mastri et al.
8011555 September 6, 2011 Tarinelli et al.
8012170 September 6, 2011 Whitman et al.
8016176 September 13, 2011 Kasvikis et al.
8016177 September 13, 2011 Bettuchi et al.
8016178 September 13, 2011 Olson et al.
8016849 September 13, 2011 Wenchell
8016855 September 13, 2011 Whitman et al.
8016858 September 13, 2011 Whitman
8016881 September 13, 2011 Furst
8020742 September 20, 2011 Marczyk
8020743 September 20, 2011 Shelton, IV
8021375 September 20, 2011 Aldrich et al.
8025199 September 27, 2011 Whitman et al.
8025896 September 27, 2011 Malaviya et al.
8028882 October 4, 2011 Viola
8028883 October 4, 2011 Stopek
8028884 October 4, 2011 Sniffin et al.
8028885 October 4, 2011 Smith et al.
8029510 October 4, 2011 Hoegerle
8031069 October 4, 2011 Cohn et al.
8033438 October 11, 2011 Scirica
8033439 October 11, 2011 Racenet et al.
8033440 October 11, 2011 Wenchell et al.
8034077 October 11, 2011 Smith et al.
8034337 October 11, 2011 Simard
8034363 October 11, 2011 Li et al.
8035487 October 11, 2011 Malackowski
8037591 October 18, 2011 Spivey et al.
8038045 October 18, 2011 Bettuchi et al.
8038046 October 18, 2011 Smith et al.
8038686 October 18, 2011 Huitema et al.
8043207 October 25, 2011 Adams
8043328 October 25, 2011 Hahnen et al.
8044536 October 25, 2011 Nguyen et al.
8044604 October 25, 2011 Hagino et al.
8047236 November 1, 2011 Perry
8048503 November 1, 2011 Farnsworth et al.
8052636 November 8, 2011 Moll et al.
8056787 November 15, 2011 Boudreaux et al.
8056788 November 15, 2011 Mastri et al.
8056789 November 15, 2011 White et al.
8057508 November 15, 2011 Shelton, IV
8058771 November 15, 2011 Giordano et al.
8060250 November 15, 2011 Reiland et al.
8061014 November 22, 2011 Smith et al.
8061576 November 22, 2011 Cappola
8062236 November 22, 2011 Soltz
8062330 November 22, 2011 Prommersberger et al.
8063619 November 22, 2011 Zhu et al.
8066158 November 29, 2011 Vogel et al.
8066166 November 29, 2011 Demmy et al.
8066167 November 29, 2011 Measamer et al.
8066168 November 29, 2011 Vidal et al.
8066720 November 29, 2011 Knodel et al.
D650074 December 6, 2011 Hunt et al.
8070033 December 6, 2011 Milliman et al.
8070034 December 6, 2011 Knodel
8070035 December 6, 2011 Holsten et al.
8070743 December 6, 2011 Kagan et al.
8074858 December 13, 2011 Marczyk
8074861 December 13, 2011 Ehrenfels et al.
8075476 December 13, 2011 Vargas
8075571 December 13, 2011 Vitali et al.
8079950 December 20, 2011 Stern et al.
8079989 December 20, 2011 Birk et al.
8080004 December 20, 2011 Downey et al.
8083118 December 27, 2011 Milliman et al.
8083119 December 27, 2011 Prommersberger
8083120 December 27, 2011 Shelton, IV et al.
8084001 December 27, 2011 Burns et al.
8084969 December 27, 2011 David et al.
8085013 December 27, 2011 Wei et al.
8087563 January 3, 2012 Milliman et al.
8089509 January 3, 2012 Chatenever et al.
8091753 January 10, 2012 Viola
8091756 January 10, 2012 Viola
8092443 January 10, 2012 Bischoff
8092932 January 10, 2012 Phillips et al.
8093572 January 10, 2012 Kuduvalli
8096458 January 17, 2012 Hessler
8097017 January 17, 2012 Viola
8100310 January 24, 2012 Zemlok
8100824 January 24, 2012 Hegeman et al.
8100872 January 24, 2012 Patel
8102278 January 24, 2012 Deck et al.
8105350 January 31, 2012 Lee et al.
8107925 January 31, 2012 Natsuno et al.
8108033 January 31, 2012 Drew et al.
8108072 January 31, 2012 Zhao et al.
8109426 February 7, 2012 Milliman et al.
8110208 February 7, 2012 Hen
8113405 February 14, 2012 Milliman
8113408 February 14, 2012 Wenchell et al.
8113410 February 14, 2012 Hall et al.
8114017 February 14, 2012 Bacher
8114100 February 14, 2012 Smith et al.
8118206 February 21, 2012 Zand et al.
8118207 February 21, 2012 Racenet et al.
8120301 February 21, 2012 Goldberg et al.
8122128 February 21, 2012 Burke, II et al.
8123103 February 28, 2012 Milliman
8123523 February 28, 2012 Carron et al.
8123766 February 28, 2012 Bauman et al.
8123767 February 28, 2012 Bauman et al.
8125168 February 28, 2012 Johnson et al.
8127975 March 6, 2012 Olson et al.
8127976 March 6, 2012 Scirica et al.
8128624 March 6, 2012 Couture et al.
8128643 March 6, 2012 Aranyi et al.
8128645 March 6, 2012 Sonnenschein et al.
8128662 March 6, 2012 Altarac et al.
8132703 March 13, 2012 Milliman et al.
8132705 March 13, 2012 Viola et al.
8132706 March 13, 2012 Marczyk et al.
8134306 March 13, 2012 Drader et al.
8136711 March 20, 2012 Beardsley et al.
8136712 March 20, 2012 Zingman
8136713 March 20, 2012 Hathaway et al.
8137339 March 20, 2012 Jinno et al.
8140417 March 20, 2012 Shibata
8141762 March 27, 2012 Bedi et al.
8141763 March 27, 2012 Milliman
8142200 March 27, 2012 Crunkilton et al.
8142425 March 27, 2012 Eggers
8142461 March 27, 2012 Houser et al.
8142515 March 27, 2012 Therin et al.
8143520 March 27, 2012 Cutler
8146790 April 3, 2012 Milliman
8147421 April 3, 2012 Farquhar et al.
8147456 April 3, 2012 Fisher et al.
8147485 April 3, 2012 Wham et al.
8152041 April 10, 2012 Kostrzewski
8152756 April 10, 2012 Webster et al.
8154239 April 10, 2012 Katsuki et al.
8157148 April 17, 2012 Scirica
8157151 April 17, 2012 Ingmanson et al.
8157152 April 17, 2012 Holsten et al.
8157153 April 17, 2012 Shelton, IV et al.
8157793 April 17, 2012 Omori et al.
8161977 April 24, 2012 Shelton, IV et al.
8162138 April 24, 2012 Bettenhausen et al.
8162197 April 24, 2012 Mastri et al.
8162668 April 24, 2012 Toly
8162933 April 24, 2012 Francischelli et al.
8162965 April 24, 2012 Reschke et al.
8167185 May 1, 2012 Shelton, IV et al.
8167622 May 1, 2012 Zhou
8167895 May 1, 2012 D'Agostino et al.
8167898 May 1, 2012 Schaller et al.
8170241 May 1, 2012 Roe et al.
8172004 May 8, 2012 Ho
8172120 May 8, 2012 Boyden et al.
8172122 May 8, 2012 Kasvikis et al.
8172124 May 8, 2012 Shelton, IV et al.
8177776 May 15, 2012 Humayun et al.
8177797 May 15, 2012 Shimoji et al.
8179705 May 15, 2012 Chapuis
8180458 May 15, 2012 Kane et al.
8181839 May 22, 2012 Beetel
8181840 May 22, 2012 Milliman
8182422 May 22, 2012 Bayer et al.
8183807 May 22, 2012 Tsai et al.
8186555 May 29, 2012 Shelton, IV et al.
8186556 May 29, 2012 Viola
8186558 May 29, 2012 Sapienza
8186560 May 29, 2012 Hess et al.
8191752 June 5, 2012 Scirica
8192460 June 5, 2012 Orban, III et al.
8192651 June 5, 2012 Young et al.
8196795 June 12, 2012 Moore et al.
8196796 June 12, 2012 Shelton, IV et al.
8197501 June 12, 2012 Shadeck et al.
8197502 June 12, 2012 Smith et al.
8197837 June 12, 2012 Jamiolkowski et al.
8201720 June 19, 2012 Hessler
8201721 June 19, 2012 Zemlok et al.
8202549 June 19, 2012 Stucky et al.
8205779 June 26, 2012 Ma et al.
8205780 June 26, 2012 Sorrentino et al.
8205781 June 26, 2012 Baxter, III et al.
8210411 July 3, 2012 Yates et al.
8210414 July 3, 2012 Bettuchi et al.
8210415 July 3, 2012 Ward
8210416 July 3, 2012 Milliman et al.
8210721 July 3, 2012 Chen et al.
8211125 July 3, 2012 Spivey
8214019 July 3, 2012 Govari et al.
8215531 July 10, 2012 Shelton, IV et al.
8215532 July 10, 2012 Marczyk
8215533 July 10, 2012 Viola et al.
8220468 July 17, 2012 Cooper et al.
8220688 July 17, 2012 Laurent et al.
8220690 July 17, 2012 Hess et al.
8221424 July 17, 2012 Cha
8225799 July 24, 2012 Bettuchi
8225979 July 24, 2012 Farascioni et al.
8226553 July 24, 2012 Shelton, IV et al.
8226635 July 24, 2012 Petrie et al.
8226675 July 24, 2012 Houser et al.
8226715 July 24, 2012 Hwang et al.
8227946 July 24, 2012 Kim
8228048 July 24, 2012 Spencer
8229549 July 24, 2012 Whitman et al.
8231040 July 31, 2012 Zemlok et al.
8231042 July 31, 2012 Hessler et al.
8231043 July 31, 2012 Tarinelli et al.
8235272 August 7, 2012 Nicholas et al.
8236010 August 7, 2012 Ortiz et al.
8236020 August 7, 2012 Smith et al.
8237388 August 7, 2012 Jinno et al.
8240537 August 14, 2012 Marczyk
8241271 August 14, 2012 Millman et al.
8241284 August 14, 2012 Dycus et al.
8241308 August 14, 2012 Kortenbach et al.
8241322 August 14, 2012 Whitman et al.
8245594 August 21, 2012 Rogers et al.
8245898 August 21, 2012 Smith et al.
8245899 August 21, 2012 Swensgard et al.
8245900 August 21, 2012 Scirica
8245901 August 21, 2012 Stopek
8246608 August 21, 2012 Omori et al.
8246637 August 21, 2012 Viola et al.
8256654 September 4, 2012 Bettuchi et al.
8256655 September 4, 2012 Sniffin et al.
8256656 September 4, 2012 Milliman et al.
8257251 September 4, 2012 Shelton, IV et al.
8257356 September 4, 2012 Bleich et al.
8257386 September 4, 2012 Lee et al.
8257391 September 4, 2012 Orban, III et al.
8257634 September 4, 2012 Scirica
8258745 September 4, 2012 Smith et al.
8262655 September 11, 2012 Ghabrial et al.
8267300 September 18, 2012 Boudreaux
8267924 September 18, 2012 Zemlok et al.
8267946 September 18, 2012 Whitfield et al.
8267951 September 18, 2012 Whayne et al.
8269121 September 18, 2012 Smith
8272553 September 25, 2012 Mastri et al.
8272554 September 25, 2012 Whitman et al.
8272918 September 25, 2012 Lam
8273404 September 25, 2012 Dave et al.
8276801 October 2, 2012 Zemlok et al.
8276802 October 2, 2012 Kostrzewski
8277473 October 2, 2012 Sunaoshi et al.
8281446 October 9, 2012 Moskovich
8281973 October 9, 2012 Wenchell et al.
8281974 October 9, 2012 Hessler et al.
8282654 October 9, 2012 Ferrari et al.
8285367 October 9, 2012 Hyde et al.
8286723 October 16, 2012 Puzio et al.
8286845 October 16, 2012 Perry et al.
8286846 October 16, 2012 Smith et al.
8287487 October 16, 2012 Estes
8287522 October 16, 2012 Moses et al.
8287561 October 16, 2012 Nunez et al.
8292147 October 23, 2012 Viola
8292150 October 23, 2012 Bryant
8292151 October 23, 2012 Viola
8292152 October 23, 2012 Milliman et al.
8292155 October 23, 2012 Shelton, IV et al.
8292157 October 23, 2012 Smith et al.
8292801 October 23, 2012 Dejima et al.
8292888 October 23, 2012 Whitman
8298161 October 30, 2012 Vargas
8298189 October 30, 2012 Fisher et al.
8298233 October 30, 2012 Mueller
8298677 October 30, 2012 Wiesner et al.
8302323 November 6, 2012 Fortier et al.
8308040 November 13, 2012 Huang et al.
8308041 November 13, 2012 Kostrzewski
8308042 November 13, 2012 Aranyi
8308043 November 13, 2012 Bindra et al.
8308046 November 13, 2012 Prommersberger
8308659 November 13, 2012 Scheibe et al.
8308725 November 13, 2012 Bell et al.
8310188 November 13, 2012 Nakai
8313496 November 20, 2012 Sauer et al.
8313509 November 20, 2012 Kostrzewski
8317070 November 27, 2012 Hueil et al.
8317071 November 27, 2012 Knodel
8317074 November 27, 2012 Ortiz et al.
8317437 November 27, 2012 Merkley et al.
8317744 November 27, 2012 Kirschenman
8317790 November 27, 2012 Bell et al.
8319002 November 27, 2012 Daniels et al.
8322455 December 4, 2012 Shelton, IV et al.
8322589 December 4, 2012 Boudreaux
8322590 December 4, 2012 Patel et al.
8322901 December 4, 2012 Michelotti
8323789 December 4, 2012 Rozhin et al.
8328061 December 11, 2012 Kasvikis
8328062 December 11, 2012 Viola
8328063 December 11, 2012 Milliman et al.
8328064 December 11, 2012 Racenet et al.
8328802 December 11, 2012 Deville et al.
8328823 December 11, 2012 Aranyi et al.
8333313 December 18, 2012 Boudreaux et al.
8333691 December 18, 2012 Schaaf
8333764 December 18, 2012 Francischelli et al.
8333779 December 18, 2012 Smith et al.
8334468 December 18, 2012 Palmer et al.
8336753 December 25, 2012 Olson et al.
8336754 December 25, 2012 Cappola et al.
8342377 January 1, 2013 Milliman et al.
8342378 January 1, 2013 Marczyk et al.
8342379 January 1, 2013 Whitman et al.
8343150 January 1, 2013 Artale
8347978 January 8, 2013 Forster et al.
8348123 January 8, 2013 Scirica et al.
8348124 January 8, 2013 Scirica
8348125 January 8, 2013 Viola et al.
8348126 January 8, 2013 Olson et al.
8348127 January 8, 2013 Marczyk
8348129 January 8, 2013 Bedi et al.
8348130 January 8, 2013 Shah et al.
8348131 January 8, 2013 Omaits et al.
8348837 January 8, 2013 Wenchell
8348959 January 8, 2013 Wolford et al.
8348972 January 8, 2013 Soltz et al.
8349987 January 8, 2013 Kapiamba et al.
8352004 January 8, 2013 Mannheimer et al.
8353437 January 15, 2013 Boudreaux
8353438 January 15, 2013 Baxter, III et al.
8353439 January 15, 2013 Baxter, III et al.
8356740 January 22, 2013 Knodel
8357144 January 22, 2013 Whitman et al.
8357161 January 22, 2013 Mueller
8360296 January 29, 2013 Zingman
8360297 January 29, 2013 Shelton, IV et al.
8360298 January 29, 2013 Farascioni et al.
8360299 January 29, 2013 Zemlok et al.
8361501 January 29, 2013 DiTizio et al.
8365973 February 5, 2013 White et al.
8365975 February 5, 2013 Manoux et al.
8365976 February 5, 2013 Hess et al.
8366559 February 5, 2013 Papenfuss et al.
8366787 February 5, 2013 Brown et al.
8371393 February 12, 2013 Higuchi et al.
8371491 February 12, 2013 Huitema et al.
8371492 February 12, 2013 Aranyi et al.
8371493 February 12, 2013 Aranyi et al.
8371494 February 12, 2013 Racenet et al.
8372094 February 12, 2013 Bettuchi et al.
8376865 February 19, 2013 Forster et al.
8377029 February 19, 2013 Nagao et al.
8377044 February 19, 2013 Coe et al.
8382773 February 26, 2013 Whitfield et al.
8382790 February 26, 2013 Uenohara et al.
8387848 March 5, 2013 Johnson et al.
8388633 March 5, 2013 Rousseau et al.
8389588 March 5, 2013 Ringeisen et al.
8393513 March 12, 2013 Jankowski
8393514 March 12, 2013 Shelton, IV et al.
8393516 March 12, 2013 Kostrzewski
8397971 March 19, 2013 Yates et al.
8397973 March 19, 2013 Hausen
8398633 March 19, 2013 Mueller
8398669 March 19, 2013 Kim
8398673 March 19, 2013 Hinchliffe et al.
8400851 March 19, 2013 Byun
8403138 March 26, 2013 Weisshaupt et al.
8403198 March 26, 2013 Sorrentino et al.
8403832 March 26, 2013 Cunningham et al.
8403945 March 26, 2013 Whitfield et al.
8403946 March 26, 2013 Whitfield et al.
8403950 March 26, 2013 Palmer et al.
8408439 April 2, 2013 Huang et al.
8408442 April 2, 2013 Racenet et al.
8409079 April 2, 2013 Okamoto et al.
8409174 April 2, 2013 Omori
8409175 April 2, 2013 Lee et al.
8409222 April 2, 2013 Whitfield et al.
8409223 April 2, 2013 Sorrentino et al.
8411500 April 2, 2013 Gapihan et al.
8413661 April 9, 2013 Rousseau et al.
8413870 April 9, 2013 Pastorelli et al.
8413871 April 9, 2013 Racenet et al.
8413872 April 9, 2013 Patel
8414577 April 9, 2013 Boudreaux et al.
8418073 April 9, 2013 Mohr et al.
8418906 April 16, 2013 Farascioni et al.
8418908 April 16, 2013 Beardsley
8418909 April 16, 2013 Kostrzewski
8419717 April 16, 2013 Diolaiti et al.
8419747 April 16, 2013 Hinman et al.
8419754 April 16, 2013 Laby et al.
8423182 April 16, 2013 Robinson et al.
8424737 April 23, 2013 Scirica
8424739 April 23, 2013 Racenet et al.
8424740 April 23, 2013 Shelton, IV et al.
8424741 April 23, 2013 McGuckin, Jr. et al.
8425600 April 23, 2013 Maxwell
8427430 April 23, 2013 Lee et al.
8430292 April 30, 2013 Patel et al.
8430892 April 30, 2013 Bindra et al.
8430898 April 30, 2013 Wiener et al.
8435257 May 7, 2013 Smith et al.
8439246 May 14, 2013 Knodel
8444036 May 21, 2013 Shelton, IV
8444037 May 21, 2013 Nicholas et al.
8444549 May 21, 2013 Viola et al.
8453904 June 4, 2013 Eskaros et al.
8453906 June 4, 2013 Huang et al.
8453907 June 4, 2013 Laurent et al.
8453908 June 4, 2013 Bedi et al.
8453912 June 4, 2013 Mastri et al.
8453914 June 4, 2013 Laurent et al.
8454495 June 4, 2013 Kawano et al.
8454628 June 4, 2013 Smith et al.
8454640 June 4, 2013 Johnston et al.
8457757 June 4, 2013 Cauller et al.
8459520 June 11, 2013 Giordano et al.
8459521 June 11, 2013 Zemlok et al.
8459524 June 11, 2013 Pribanic et al.
8459525 June 11, 2013 Yates et al.
8464922 June 18, 2013 Marczyk
8464923 June 18, 2013 Shelton, IV
8464924 June 18, 2013 Gresham et al.
8464925 June 18, 2013 Hull et al.
8465475 June 18, 2013 Isbell, Jr.
8465502 June 18, 2013 Zergiebel
8465515 June 18, 2013 Drew et al.
8469946 June 25, 2013 Sugita
8469973 June 25, 2013 Meade et al.
8470355 June 25, 2013 Skalla et al.
8474677 July 2, 2013 Woodard, Jr. et al.
8475453 July 2, 2013 Marczyk et al.
8475454 July 2, 2013 Alshemari
8475474 July 2, 2013 Bombard et al.
8479968 July 9, 2013 Hodgkinson et al.
8479969 July 9, 2013 Shelton, IV
8480703 July 9, 2013 Nicholas et al.
8485412 July 16, 2013 Shelton, IV et al.
8485413 July 16, 2013 Scheib et al.
8485970 July 16, 2013 Widenhouse et al.
8487199 July 16, 2013 Palmer et al.
8490851 July 23, 2013 Blier et al.
8490853 July 23, 2013 Criscuolo et al.
8491581 July 23, 2013 Deville et al.
8491603 July 23, 2013 Yeung et al.
8496154 July 30, 2013 Marczyk et al.
8496156 July 30, 2013 Sniffin et al.
8496683 July 30, 2013 Prommersberger et al.
8499992 August 6, 2013 Whitman et al.
8499993 August 6, 2013 Shelton, IV et al.
8500721 August 6, 2013 Jinno
8500762 August 6, 2013 Sholev et al.
8502091 August 6, 2013 Palmer et al.
8505799 August 13, 2013 Viola et al.
8505801 August 13, 2013 Ehrenfels et al.
8506555 August 13, 2013 Ruiz Morales
8506557 August 13, 2013 Zemlok et al.
8506580 August 13, 2013 Zergiebel et al.
8506581 August 13, 2013 Wingardner, III et al.
8511308 August 20, 2013 Hecox et al.
8512359 August 20, 2013 Whitman et al.
8512402 August 20, 2013 Marczyk et al.
8517239 August 27, 2013 Scheib et al.
8517241 August 27, 2013 Nicholas et al.
8517243 August 27, 2013 Giordano et al.
8517244 August 27, 2013 Shelton, IV et al.
8518024 August 27, 2013 Williams et al.
8521273 August 27, 2013 Kliman
8523043 September 3, 2013 Ullrich et al.
8523881 September 3, 2013 Cabiri et al.
8523900 September 3, 2013 Jinno et al.
8529588 September 10, 2013 Ahlberg et al.
8529600 September 10, 2013 Woodard, Jr. et al.
8529819 September 10, 2013 Ostapoff et al.
8532747 September 10, 2013 Nock et al.
8534527 September 17, 2013 Brendel et al.
8534528 September 17, 2013 Shelton, IV
8535304 September 17, 2013 Sklar et al.
8535340 September 17, 2013 Allen
8540128 September 24, 2013 Shelton, IV et al.
8540129 September 24, 2013 Baxter, III et al.
8540130 September 24, 2013 Moore et al.
8540131 September 24, 2013 Swayze
8540133 September 24, 2013 Bedi et al.
8540733 September 24, 2013 Whitman et al.
8540735 September 24, 2013 Mitelberg et al.
8550984 October 8, 2013 Takemoto
8551076 October 8, 2013 Duval et al.
8555660 October 15, 2013 Takenaka et al.
8556151 October 15, 2013 Viola
8556918 October 15, 2013 Bauman et al.
8556935 October 15, 2013 Knodel et al.
8560147 October 15, 2013 Taylor et al.
8561617 October 22, 2013 Lindh et al.
8561870 October 22, 2013 Baxter, III et al.
8561871 October 22, 2013 Rajappa et al.
8561873 October 22, 2013 Ingmanson et al.
8562598 October 22, 2013 Falkenstein et al.
8567656 October 29, 2013 Shelton, IV et al.
8568416 October 29, 2013 Schmitz et al.
8568425 October 29, 2013 Ross et al.
8573459 November 5, 2013 Smith et al.
8573461 November 5, 2013 Shelton, IV et al.
8573462 November 5, 2013 Smith et al.
8573465 November 5, 2013 Shelton, IV
8574199 November 5, 2013 von Bulow et al.
8574263 November 5, 2013 Mueller
8575880 November 5, 2013 Grantz
8579176 November 12, 2013 Smith et al.
8579178 November 12, 2013 Holsten et al.
8579897 November 12, 2013 Vakharia et al.
8579937 November 12, 2013 Gresham
8584919 November 19, 2013 Hueil et al.
8584920 November 19, 2013 Hodgkinson
8584921 November 19, 2013 Scirica
8585583 November 19, 2013 Sakaguchi et al.
8585721 November 19, 2013 Kirsch
8590760 November 26, 2013 Cummins et al.
8590762 November 26, 2013 Hess et al.
8590764 November 26, 2013 Hartwick et al.
8596515 December 3, 2013 Okoniewski
8597745 December 3, 2013 Farnsworth et al.
8599450 December 3, 2013 Kubo et al.
8602287 December 10, 2013 Yates et al.
8602288 December 10, 2013 Shelton, IV et al.
8603077 December 10, 2013 Cooper et al.
8603089 December 10, 2013 Viola
8603110 December 10, 2013 Maruyama et al.
8603135 December 10, 2013 Mueller
8608043 December 17, 2013 Scirica
8608044 December 17, 2013 Hueil et al.
8608045 December 17, 2013 Smith et al.
8608046 December 17, 2013 Laurent et al.
8608745 December 17, 2013 Guzman et al.
8613383 December 24, 2013 Beckman et al.
8616427 December 31, 2013 Viola
8616431 December 31, 2013 Timm et al.
8622274 January 7, 2014 Yates et al.
8622275 January 7, 2014 Baxter, III et al.
8627993 January 14, 2014 Smith et al.
8627995 January 14, 2014 Smith et al.
8628518 January 14, 2014 Blumenkranz et al.
8628545 January 14, 2014 Cabrera et al.
8631987 January 21, 2014 Shelton, IV et al.
8631992 January 21, 2014 Hausen et al.
8631993 January 21, 2014 Kostrzewski
8632462 January 21, 2014 Yoo et al.
8632525 January 21, 2014 Kerr et al.
8632535 January 21, 2014 Shelton, IV et al.
8632563 January 21, 2014 Nagase et al.
8636187 January 28, 2014 Hueil et al.
8636190 January 28, 2014 Zemlok et al.
8636191 January 28, 2014 Meagher
8636193 January 28, 2014 Whitman et al.
8636736 January 28, 2014 Yates et al.
8636766 January 28, 2014 Milliman et al.
8639936 January 28, 2014 Hu et al.
8640788 February 4, 2014 Dachs, II et al.
8646674 February 11, 2014 Schulte et al.
8647258 February 11, 2014 Aranyi et al.
8652151 February 18, 2014 Lehman et al.
8657174 February 25, 2014 Yates
8657175 February 25, 2014 Sonnenschein et al.
8657176 February 25, 2014 Shelton, IV et al.
8657177 February 25, 2014 Scirica et al.
8657178 February 25, 2014 Hueil et al.
8657482 February 25, 2014 Malackowski et al.
8657808 February 25, 2014 McPherson et al.
8657814 February 25, 2014 Werneth et al.
8657821 February 25, 2014 Palermo
8662370 March 4, 2014 Takei
8663106 March 4, 2014 Stivoric et al.
8663192 March 4, 2014 Hester et al.
8663245 March 4, 2014 Francischelli et al.
8663262 March 4, 2014 Smith et al.
8663270 March 4, 2014 Donnigan et al.
8664792 March 4, 2014 Rebsdorf
8668129 March 11, 2014 Olson
8668130 March 11, 2014 Hess et al.
8672206 March 18, 2014 Aranyi et al.
8672207 March 18, 2014 Shelton, IV et al.
8672208 March 18, 2014 Hess et al.
8672922 March 18, 2014 Loh et al.
8672935 March 18, 2014 Okada et al.
8672951 March 18, 2014 Smith et al.
8673210 March 18, 2014 Deshays
8675820 March 18, 2014 Baic et al.
8678263 March 25, 2014 Viola
8679093 March 25, 2014 Farra
8679098 March 25, 2014 Hart
8679137 March 25, 2014 Bauman et al.
8679154 March 25, 2014 Smith et al.
8679156 March 25, 2014 Smith et al.
8679454 March 25, 2014 Guire et al.
8684248 April 1, 2014 Milliman
8684249 April 1, 2014 Racenet et al.
8684250 April 1, 2014 Bettuchi et al.
8684253 April 1, 2014 Giordano et al.
8684962 April 1, 2014 Kirschenman et al.
8685004 April 1, 2014 Zemlock et al.
8685020 April 1, 2014 Weizman et al.
8695866 April 15, 2014 Leimbach et al.
8696665 April 15, 2014 Hunt et al.
8701958 April 22, 2014 Shelton, IV et al.
8701959 April 22, 2014 Shah
8708210 April 29, 2014 Zemlok et al.
8708211 April 29, 2014 Zemlok et al.
8708213 April 29, 2014 Shelton, IV et al.
8714352 May 6, 2014 Farascioni et al.
8714429 May 6, 2014 Demmy
8714430 May 6, 2014 Natarajan et al.
8715256 May 6, 2014 Greener
8715302 May 6, 2014 Ibrahim et al.
8720766 May 13, 2014 Hess et al.
8721630 May 13, 2014 Ortiz et al.
8721666 May 13, 2014 Schroeder et al.
8727197 May 20, 2014 Hess et al.
8727199 May 20, 2014 Wenchell
8727200 May 20, 2014 Roy
8727961 May 20, 2014 Ziv
8728099 May 20, 2014 Cohn et al.
8728119 May 20, 2014 Cummins
8733470 May 27, 2014 Matthias et al.
8733612 May 27, 2014 Ma
8733613 May 27, 2014 Huitema et al.
8733614 May 27, 2014 Ross et al.
8734336 May 27, 2014 Bonadio et al.
8734359 May 27, 2014 Ibanez et al.
8734478 May 27, 2014 Widenhouse et al.
8739033 May 27, 2014 Rosenberg
8739417 June 3, 2014 Tokunaga et al.
8740034 June 3, 2014 Morgan et al.
8740037 June 3, 2014 Shelton, IV et al.
8740038 June 3, 2014 Shelton, IV et al.
8740987 June 3, 2014 Geremakis et al.
8746529 June 10, 2014 Shelton, IV et al.
8746530 June 10, 2014 Giordano et al.
8746533 June 10, 2014 Whitman et al.
8746535 June 10, 2014 Shelton, IV et al.
8747238 June 10, 2014 Shelton, IV et al.
8747441 June 10, 2014 Konieczynski et al.
8752264 June 17, 2014 Ackley et al.
8752699 June 17, 2014 Morgan et al.
8752747 June 17, 2014 Shelton, IV et al.
8752748 June 17, 2014 Whitman et al.
8752749 June 17, 2014 Moore et al.
8757287 June 24, 2014 Mak et al.
8757465 June 24, 2014 Woodard, Jr. et al.
8758235 June 24, 2014 Jaworek
8758366 June 24, 2014 McLean et al.
8758391 June 24, 2014 Swayze et al.
8758438 June 24, 2014 Boyce et al.
8763875 July 1, 2014 Morgan et al.
8763877 July 1, 2014 Schall et al.
8763879 July 1, 2014 Shelton, IV et al.
8764732 July 1, 2014 Hartwell
8770458 July 8, 2014 Scirica
8770459 July 8, 2014 Racenet et al.
8770460 July 8, 2014 Belzer
8771169 July 8, 2014 Whitman et al.
8777004 July 15, 2014 Shelton, IV et al.
8777082 July 15, 2014 Scirica
8777083 July 15, 2014 Racenet et al.
8777898 July 15, 2014 Suon et al.
8783541 July 22, 2014 Shelton, IV et al.
8783542 July 22, 2014 Riestenberg et al.
8783543 July 22, 2014 Shelton, IV et al.
8784304 July 22, 2014 Mikkaichi et al.
8784404 July 22, 2014 Doyle et al.
8784415 July 22, 2014 Malackowski et al.
8789737 July 29, 2014 Hodgkinson et al.
8789739 July 29, 2014 Swensgard
8789740 July 29, 2014 Baxter, III et al.
8789741 July 29, 2014 Baxter, III et al.
8790658 July 29, 2014 Cigarini et al.
8790684 July 29, 2014 Dave et al.
8794496 August 5, 2014 Scirica
8794497 August 5, 2014 Zingman
8795276 August 5, 2014 Dietz et al.
8795308 August 5, 2014 Valin
8795324 August 5, 2014 Kawai et al.
8800681 August 12, 2014 Rousson et al.
8800837 August 12, 2014 Zemlok
8800838 August 12, 2014 Shelton, IV
8800839 August 12, 2014 Beetel
8800840 August 12, 2014 Jankowski
8800841 August 12, 2014 Ellerhorst et al.
8801710 August 12, 2014 Ullrich et al.
8801734 August 12, 2014 Shelton, IV et al.
8801735 August 12, 2014 Shelton, IV et al.
8801752 August 12, 2014 Fortier et al.
8801801 August 12, 2014 Datta et al.
8806973 August 19, 2014 Ross et al.
8807414 August 19, 2014 Ross et al.
8808161 August 19, 2014 Gregg et al.
8808274 August 19, 2014 Hartwell
8808294 August 19, 2014 Fox et al.
8808308 August 19, 2014 Boukhny et al.
8808311 August 19, 2014 Heinrich et al.
8808325 August 19, 2014 Hess et al.
8810197 August 19, 2014 Juergens
8811017 August 19, 2014 Fujii et al.
8813866 August 26, 2014 Suzuki
8814024 August 26, 2014 Woodard, Jr. et al.
8814025 August 26, 2014 Miller et al.
8814836 August 26, 2014 Ignon et al.
8820603 September 2, 2014 Shelton, IV et al.
8820605 September 2, 2014 Shelton, IV
8820606 September 2, 2014 Hodgkinson
8820607 September 2, 2014 Marczyk
8822934 September 2, 2014 Sayeh et al.
8825164 September 2, 2014 Tweden et al.
8827133 September 9, 2014 Shelton, IV et al.
8827134 September 9, 2014 Viola et al.
8827903 September 9, 2014 Shelton, IV et al.
8833219 September 16, 2014 Pierce
8833630 September 16, 2014 Milliman
8833632 September 16, 2014 Swensgard
8834498 September 16, 2014 Byrum et al.
8840003 September 23, 2014 Morgan et al.
8840603 September 23, 2014 Shelton, IV et al.
8840609 September 23, 2014 Stuebe
8844789 September 30, 2014 Shelton, IV et al.
8851215 October 7, 2014 Goto
8851354 October 7, 2014 Swensgard et al.
8852185 October 7, 2014 Twomey
8852199 October 7, 2014 Deslauriers et al.
8857693 October 14, 2014 Schuckmann et al.
8857694 October 14, 2014 Shelton, IV et al.
8858538 October 14, 2014 Belson et al.
8858571 October 14, 2014 Shelton, IV et al.
8858590 October 14, 2014 Shelton, IV et al.
8864007 October 21, 2014 Widenhouse et al.
8864009 October 21, 2014 Shelton, IV et al.
8864010 October 21, 2014 Williams
8870050 October 28, 2014 Hodgkinson
8870912 October 28, 2014 Brisson et al.
8875971 November 4, 2014 Hall et al.
8875972 November 4, 2014 Weisenburgh, II et al.
8876857 November 4, 2014 Burbank
8876858 November 4, 2014 Braun
8887979 November 18, 2014 Mastri et al.
8888688 November 18, 2014 Julian et al.
8888695 November 18, 2014 Piskun et al.
8888792 November 18, 2014 Harris et al.
8888809 November 18, 2014 Davison et al.
8893946 November 25, 2014 Boudreaux et al.
8893949 November 25, 2014 Shelton, IV et al.
8894647 November 25, 2014 Beardsley et al.
8894654 November 25, 2014 Anderson
8899460 December 2, 2014 Wojcicki
8899461 December 2, 2014 Farascioni
8899462 December 2, 2014 Kostrzewski et al.
8899463 December 2, 2014 Schall et al.
8899464 December 2, 2014 Hueil et al.
8899465 December 2, 2014 Shelton, IV et al.
8899466 December 2, 2014 Baxter, III et al.
8905287 December 9, 2014 Racenet et al.
8905977 December 9, 2014 Shelton et al.
8910846 December 16, 2014 Viola
8911426 December 16, 2014 Coppeta et al.
8911448 December 16, 2014 Stein
8911460 December 16, 2014 Neurohr et al.
8911471 December 16, 2014 Spivey et al.
8920433 December 30, 2014 Barrier et al.
8920435 December 30, 2014 Smith et al.
8920438 December 30, 2014 Aranyi et al.
8920443 December 30, 2014 Hiles et al.
8920444 December 30, 2014 Hiles et al.
8922163 December 30, 2014 MacDonald
8925782 January 6, 2015 Shelton, IV
8925783 January 6, 2015 Zemlok et al.
8925788 January 6, 2015 Hess et al.
8926506 January 6, 2015 Widenhouse et al.
8926598 January 6, 2015 Mollere et al.
8931576 January 13, 2015 Iwata
8931679 January 13, 2015 Kostrzewski
8931680 January 13, 2015 Milliman
8931682 January 13, 2015 Timm et al.
8936614 January 20, 2015 Allen, IV
8939343 January 27, 2015 Milliman et al.
8939344 January 27, 2015 Olson et al.
8945163 February 3, 2015 Voegele et al.
8955732 February 17, 2015 Zemlok et al.
8956342 February 17, 2015 Russo et al.
8956390 February 17, 2015 Shah et al.
8958860 February 17, 2015 Banerjee et al.
8960519 February 24, 2015 Whitman et al.
8960520 February 24, 2015 McCuen
8960521 February 24, 2015 Kostrzewski
8961191 February 24, 2015 Hanshew
8961504 February 24, 2015 Hoarau et al.
8963714 February 24, 2015 Medhal et al.
D725674 March 31, 2015 Jung et al.
8967443 March 3, 2015 McCuen
8967444 March 3, 2015 Beetel
8967446 March 3, 2015 Beardsley et al.
8967448 March 3, 2015 Carter et al.
8968276 March 3, 2015 Zemlok et al.
8968312 March 3, 2015 Marczyk et al.
8968337 March 3, 2015 Whitfield et al.
8968340 March 3, 2015 Chowaniec et al.
8968355 March 3, 2015 Malkowski et al.
8968358 March 3, 2015 Reschke
8970507 March 3, 2015 Holbein et al.
8973803 March 10, 2015 Hall et al.
8973804 March 10, 2015 Hess et al.
8973805 March 10, 2015 Scirica et al.
8974440 March 10, 2015 Farritor et al.
8974932 March 10, 2015 McGahan et al.
8978954 March 17, 2015 Shelton, IV et al.
8978955 March 17, 2015 Aronhalt et al.
8978956 March 17, 2015 Schall et al.
8979843 March 17, 2015 Timm et al.
8979890 March 17, 2015 Boudreaux
8982195 March 17, 2015 Claus et al.
8991676 March 31, 2015 Hess et al.
8991677 March 31, 2015 Moore et al.
8991678 March 31, 2015 Wellman et al.
8992042 March 31, 2015 Eichenholz
8992422 March 31, 2015 Spivey et al.
8992565 March 31, 2015 Brisson et al.
8996165 March 31, 2015 Wang et al.
8998058 April 7, 2015 Moore et al.
8998059 April 7, 2015 Smith et al.
8998060 April 7, 2015 Bruewer et al.
8998061 April 7, 2015 Williams et al.
8998939 April 7, 2015 Price et al.
9002518 April 7, 2015 Manzo et al.
9004339 April 14, 2015 Park
9005230 April 14, 2015 Yates et al.
9005238 April 14, 2015 DeSantis et al.
9005243 April 14, 2015 Stopek et al.
9010606 April 21, 2015 Aranyi et al.
9010608 April 21, 2015 Casasanta, Jr. et al.
9011439 April 21, 2015 Shalaby et al.
9011471 April 21, 2015 Timm et al.
9016539 April 28, 2015 Kostrzewski et al.
9016540 April 28, 2015 Whitman et al.
9016541 April 28, 2015 Viola et al.
9016542 April 28, 2015 Shelton, IV et al.
9016545 April 28, 2015 Aranyi et al.
9017331 April 28, 2015 Fox
9017355 April 28, 2015 Smith et al.
9017369 April 28, 2015 Renger et al.
9017371 April 28, 2015 Whitman et al.
9021684 May 5, 2015 Lenker et al.
9023014 May 5, 2015 Chowaniec et al.
9023071 May 5, 2015 Miller et al.
9027817 May 12, 2015 Milliman et al.
9028494 May 12, 2015 Shelton, IV et al.
9028495 May 12, 2015 Mueller et al.
9028519 May 12, 2015 Yates et al.
9030169 May 12, 2015 Christensen et al.
9033203 May 19, 2015 Woodard, Jr. et al.
9033204 May 19, 2015 Shelton, IV et al.
9034505 May 19, 2015 Detry et al.
9038881 May 26, 2015 Schaller et al.
9039690 May 26, 2015 Kersten et al.
9039694 May 26, 2015 Ross et al.
9039720 May 26, 2015 Madan
9043027 May 26, 2015 Durant et al.
9044227 June 2, 2015 Shelton, IV et al.
9044228 June 2, 2015 Woodard, Jr. et al.
9044229 June 2, 2015 Scheib et al.
9044230 June 2, 2015 Morgan et al.
9044281 June 2, 2015 Pool et al.
9050083 June 9, 2015 Yates et al.
9050084 June 9, 2015 Schmid et al.
9050100 June 9, 2015 Yates et al.
9050120 June 9, 2015 Swarup et al.
9050123 June 9, 2015 Krause et al.
9050176 June 9, 2015 Datta et al.
9055941 June 16, 2015 Schmid et al.
9055942 June 16, 2015 Balbierz et al.
9055943 June 16, 2015 Zemlok et al.
9055944 June 16, 2015 Hodgkinson et al.
9055961 June 16, 2015 Manzo et al.
9060770 June 23, 2015 Shelton, IV et al.
9060776 June 23, 2015 Yates et al.
9060794 June 23, 2015 Kang et al.
9060894 June 23, 2015 Wubbeling
9061392 June 23, 2015 Forgues et al.
9072515 July 7, 2015 Hall et al.
9072523 July 7, 2015 Houser et al.
9072535 July 7, 2015 Shelton, IV et al.
9072536 July 7, 2015 Shelton, IV et al.
9078653 July 14, 2015 Leimbach et al.
9084601 July 21, 2015 Moore et al.
9084602 July 21, 2015 Gleiman
9086875 July 21, 2015 Harrat et al.
9089326 July 28, 2015 Krumanaker et al.
9089330 July 28, 2015 Widenhouse et al.
9089352 July 28, 2015 Jeong
9091588 July 28, 2015 Lefler
D736792 August 18, 2015 Brinda et al.
9095339 August 4, 2015 Moore et al.
9095346 August 4, 2015 Houser et al.
9095362 August 4, 2015 Dachs, II et al.
9095367 August 4, 2015 Olson et al.
9096033 August 4, 2015 Holop et al.
9099863 August 4, 2015 Smith et al.
9101358 August 11, 2015 Kerr et al.
9101385 August 11, 2015 Shelton, IV et al.
9101475 August 11, 2015 Wei et al.
9107663 August 18, 2015 Swensgard
9107690 August 18, 2015 Bales, Jr. et al.
9110587 August 18, 2015 Kim et al.
9113862 August 25, 2015 Morgan et al.
9113864 August 25, 2015 Morgan et al.
9113865 August 25, 2015 Shelton, IV et al.
9113873 August 25, 2015 Marczyk et al.
9113874 August 25, 2015 Shelton, IV et al.
9113876 August 25, 2015 Zemlok et al.
9113880 August 25, 2015 Zemlok et al.
9113881 August 25, 2015 Scirica
9113883 August 25, 2015 Aronhalt et al.
9113884 August 25, 2015 Shelton, IV et al.
9113887 August 25, 2015 Behnke, II et al.
9119657 September 1, 2015 Shelton, IV et al.
9119898 September 1, 2015 Bayon et al.
9119957 September 1, 2015 Gantz et al.
9123286 September 1, 2015 Park
9124097 September 1, 2015 Cruz
9125654 September 8, 2015 Aronhalt et al.
9125662 September 8, 2015 Shelton, IV
9126317 September 8, 2015 Lawton et al.
9131835 September 15, 2015 Widenhouse et al.
9131940 September 15, 2015 Huitema et al.
9131950 September 15, 2015 Matthew
9131957 September 15, 2015 Skarbnik et al.
9138225 September 22, 2015 Huang et al.
9138226 September 22, 2015 Racenet et al.
9144455 September 29, 2015 Kennedy et al.
9149274 October 6, 2015 Spivey et al.
9149324 October 6, 2015 Huang et al.
9149325 October 6, 2015 Worrell et al.
9153994 October 6, 2015 Wood et al.
9161753 October 20, 2015 Prior
9161803 October 20, 2015 Yates et al.
9168038 October 27, 2015 Shelton, IV et al.
9168039 October 27, 2015 Knodel
9168054 October 27, 2015 Turner et al.
9168144 October 27, 2015 Rivin et al.
9179911 November 10, 2015 Morgan et al.
9179912 November 10, 2015 Yates
9182244 November 10, 2015 Luke et al.
9186046 November 17, 2015 Ramamurthy et al.
9186137 November 17, 2015 Farascioni et al.
9186140 November 17, 2015 Hiles et al.
9186142 November 17, 2015 Fanelli et al.
9186143 November 17, 2015 Timm et al.
9186148 November 17, 2015 Felder et al.
9186221 November 17, 2015 Burbank
9192380 November 24, 2015 (Tarinelli) Racenet et al.
9192384 November 24, 2015 Bettuchi
9192430 November 24, 2015 Rachlin et al.
9192434 November 24, 2015 Twomey et al.
9193045 November 24, 2015 Saur et al.
9198642 December 1, 2015 Storz
9198644 December 1, 2015 Balek et al.
9198661 December 1, 2015 Swensgard
9198662 December 1, 2015 Barton et al.
9198683 December 1, 2015 Friedman et al.
9204830 December 8, 2015 Zand et al.
9204877 December 8, 2015 Whitman et al.
9204878 December 8, 2015 Hall et al.
9204879 December 8, 2015 Shelton, IV
9204880 December 8, 2015 Baxter, III et al.
9204923 December 8, 2015 Manzo et al.
9204924 December 8, 2015 Marczyk et al.
9211120 December 15, 2015 Scheib et al.
9211121 December 15, 2015 Hall et al.
9211122 December 15, 2015 Hagerty et al.
9216013 December 22, 2015 Scirica et al.
9216019 December 22, 2015 Schmid et al.
9216020 December 22, 2015 Zhang et al.
9216030 December 22, 2015 Fan et al.
9216062 December 22, 2015 Duque et al.
9220500 December 29, 2015 Swayze et al.
9220501 December 29, 2015 Baxter, III et al.
9220502 December 29, 2015 Zemlok et al.
9220508 December 29, 2015 Dannaher
9220559 December 29, 2015 Worrell et al.
9220570 December 29, 2015 Kim et al.
D746854 January 5, 2016 Shardlow et al.
9226750 January 5, 2016 Weir et al.
9226751 January 5, 2016 Shelton, IV et al.
9226767 January 5, 2016 Stulen et al.
9232941 January 12, 2016 Mandakolathur Vasudevan et al.
9232945 January 12, 2016 Zingman
9232979 January 12, 2016 Parihar et al.
9233610 January 12, 2016 Kim et al.
9237891 January 19, 2016 Shelton, IV
9237892 January 19, 2016 Hodgkinson
9237895 January 19, 2016 McCarthy et al.
9237921 January 19, 2016 Messerly et al.
9239064 January 19, 2016 Helbig et al.
9240740 January 19, 2016 Zeng et al.
9241712 January 26, 2016 Zemlok et al.
9241714 January 26, 2016 Timm et al.
9241716 January 26, 2016 Whitman
9241731 January 26, 2016 Boudreaux et al.
D750122 February 23, 2016 Shardlow et al.
9259274 February 16, 2016 Prisco
9261172 February 16, 2016 Solomon et al.
9265500 February 23, 2016 Sorrentino et al.
9265516 February 23, 2016 Casey et al.
9265585 February 23, 2016 Wingardner et al.
9271718 March 1, 2016 Milad et al.
9271727 March 1, 2016 McGuckin, Jr. et al.
9271753 March 1, 2016 Butler et al.
9271799 March 1, 2016 Shelton, IV et al.
9272406 March 1, 2016 Aronhalt et al.
9277919 March 8, 2016 Timmer et al.
9277922 March 8, 2016 Carter et al.
9282962 March 15, 2016 Schmid et al.
9282963 March 15, 2016 Bryant
9282966 March 15, 2016 Shelton, IV et al.
9282974 March 15, 2016 Shelton, IV
9283028 March 15, 2016 Johnson
9283045 March 15, 2016 Rhee et al.
9283054 March 15, 2016 Morgan et al.
9289206 March 22, 2016 Hess et al.
9289207 March 22, 2016 Shelton, IV
9289210 March 22, 2016 Baxter et al.
9289211 March 22, 2016 Williams et al.
9289212 March 22, 2016 Shelton, IV et al.
9289225 March 22, 2016 Shelton, IV et al.
9289256 March 22, 2016 Shelton, IV et al.
9293757 March 22, 2016 Toussaint et al.
9295464 March 29, 2016 Shelton, IV et al.
9295465 March 29, 2016 Farascioni
9295466 March 29, 2016 Hodgkinson et al.
9295468 March 29, 2016 Heinrich et al.
9295514 March 29, 2016 Shelton, IV et al.
9295522 March 29, 2016 Kostrzewski
9295784 March 29, 2016 Eggert et al.
9301691 April 5, 2016 Hufnagel et al.
9301752 April 5, 2016 Mandakolathur Vasudevan et al.
9301753 April 5, 2016 Aldridge et al.
9301755 April 5, 2016 Shelton, IV et al.
9301759 April 5, 2016 Spivey et al.
9307965 April 12, 2016 Ming et al.
9307986 April 12, 2016 Hall et al.
9307987 April 12, 2016 Swensgard et al.
9307988 April 12, 2016 Shelton, IV
9307989 April 12, 2016 Shelton, IV et al.
9307994 April 12, 2016 Gresham et al.
9308009 April 12, 2016 Madan et al.
9308011 April 12, 2016 Chao et al.
9308646 April 12, 2016 Lim et al.
9314246 April 19, 2016 Shelton, IV et al.
9314247 April 19, 2016 Shelton, IV et al.
9314261 April 19, 2016 Bales, Jr. et al.
9314908 April 19, 2016 Tanimoto et al.
9320518 April 26, 2016 Henderson et al.
9320520 April 26, 2016 Shelton, IV et al.
9320521 April 26, 2016 Shelton, IV et al.
9320523 April 26, 2016 Shelton, IV et al.
9326767 May 3, 2016 Koch, Jr. et al.
9326768 May 3, 2016 Shelton, IV
9326769 May 3, 2016 Shelton, IV et al.
9326770 May 3, 2016 Shelton, IV et al.
9326771 May 3, 2016 Baxter, III et al.
9326788 May 3, 2016 Batross et al.
9326812 May 3, 2016 Waaler et al.
9332890 May 10, 2016 Ozawa
9332974 May 10, 2016 Henderson et al.
9332984 May 10, 2016 Weaner et al.
9332987 May 10, 2016 Leimbach et al.
9333040 May 10, 2016 Shellenberger et al.
9333082 May 10, 2016 Wei et al.
9339226 May 17, 2016 van der Walt et al.
9345477 May 24, 2016 Anim et al.
9345480 May 24, 2016 Hessler et al.
9345481 May 24, 2016 Hall et al.
9351726 May 31, 2016 Leimbach et al.
9351727 May 31, 2016 Leimbach et al.
9351728 May 31, 2016 Sniffin et al.
9351730 May 31, 2016 Schmid et al.
9351731 May 31, 2016 Carter et al.
9351732 May 31, 2016 Hodgkinson
D758433 June 7, 2016 Lee et al.
9358003 June 7, 2016 Hall et al.
9358005 June 7, 2016 Shelton, IV et al.
9358015 June 7, 2016 Sorrentino et al.
9358031 June 7, 2016 Manzo
9364217 June 14, 2016 Kostrzewski et al.
9364219 June 14, 2016 Olson et al.
9364220 June 14, 2016 Williams
9364226 June 14, 2016 Zemlok et al.
9364229 June 14, 2016 D'Agostino et al.
9364230 June 14, 2016 Shelton, IV et al.
9364231 June 14, 2016 Wenchell
9364233 June 14, 2016 Alexander, III et al.
9364279 June 14, 2016 Houser et al.
9368991 June 14, 2016 Qahouq
9370341 June 21, 2016 Ceniccola et al.
9370358 June 21, 2016 Shelton, IV et al.
9370364 June 21, 2016 Smith et al.
9375206 June 28, 2016 Vidal et al.
9375255 June 28, 2016 Houser et al.
9381058 July 5, 2016 Houser et al.
9386983 July 12, 2016 Swensgard et al.
9386984 July 12, 2016 Aronhalt et al.
9386985 July 12, 2016 Koch, Jr. et al.
9386988 July 12, 2016 Baxter, III et al.
9387003 July 12, 2016 Kaercher et al.
9393015 July 19, 2016 Laurent et al.
9393017 July 19, 2016 Flanagan et al.
9393018 July 19, 2016 Wang et al.
9398911 July 26, 2016 Auld
9402604 August 2, 2016 Williams et al.
9402626 August 2, 2016 Ortiz et al.
9402627 August 2, 2016 Stevenson et al.
9408604 August 9, 2016 Shelton, IV et al.
9408606 August 9, 2016 Shelton, IV
9408622 August 9, 2016 Stulen et al.
9411370 August 9, 2016 Benni et al.
9413128 August 9, 2016 Tien et al.
9414838 August 16, 2016 Shelton, IV et al.
9414849 August 16, 2016 Nagashimada
9414880 August 16, 2016 Monson et al.
9420967 August 23, 2016 Zand et al.
9421003 August 23, 2016 Williams et al.
9421014 August 23, 2016 Ingmanson et al.
9421030 August 23, 2016 Cole et al.
9421060 August 23, 2016 Monson et al.
9427223 August 30, 2016 Park et al.
9427231 August 30, 2016 Racenet et al.
9433411 September 6, 2016 Racenet et al.
9433419 September 6, 2016 Gonzalez et al.
9433420 September 6, 2016 Hodgkinson
9439649 September 13, 2016 Shelton, IV et al.
9439650 September 13, 2016 McGuckin, Jr. et al.
9439651 September 13, 2016 Smith et al.
9439668 September 13, 2016 Timm et al.
9445808 September 20, 2016 Woodard, Jr. et al.
9445813 September 20, 2016 Shelton, IV et al.
9451958 September 27, 2016 Shelton, IV et al.
9461340 October 4, 2016 Li et al.
9463040 October 11, 2016 Jeong et al.
9463260 October 11, 2016 Stopek
9468438 October 18, 2016 Baber et al.
9468447 October 18, 2016 Aman et al.
9470297 October 18, 2016 Aranyi et al.
9471969 October 18, 2016 Zeng et al.
9474506 October 25, 2016 Magnin et al.
9474523 October 25, 2016 Meade et al.
9474540 October 25, 2016 Stokes et al.
9475180 October 25, 2016 Eshleman et al.
9480476 November 1, 2016 Aldridge et al.
9480492 November 1, 2016 Aranyi et al.
9483095 November 1, 2016 Tran et al.
9486186 November 8, 2016 Fiebig et al.
9486213 November 8, 2016 Altman et al.
9486214 November 8, 2016 Shelton, IV
9486302 November 8, 2016 Boey et al.
9488197 November 8, 2016 Wi
9492146 November 15, 2016 Kostrzewski et al.
9492167 November 15, 2016 Shelton, IV et al.
9492170 November 15, 2016 Bear et al.
9492189 November 15, 2016 Williams et al.
9492192 November 15, 2016 To et al.
9498213 November 22, 2016 Marczyk et al.
9498219 November 22, 2016 Moore et al.
9504521 November 29, 2016 Deutmeyer et al.
D775336 December 27, 2016 Shelton, IV et al.
9510828 December 6, 2016 Yates et al.
9510830 December 6, 2016 Shelton, IV et al.
9510846 December 6, 2016 Sholev et al.
9510895 December 6, 2016 Houser et al.
9510925 December 6, 2016 Hotter et al.
9517063 December 13, 2016 Swayze et al.
9517068 December 13, 2016 Shelton, IV et al.
9521996 December 20, 2016 Armstrong
9522029 December 20, 2016 Yates et al.
9526481 December 27, 2016 Storz et al.
9526499 December 27, 2016 Kostrzewski et al.
9526564 December 27, 2016 Rusin
D777773 January 31, 2017 Shi
9532783 January 3, 2017 Swayze et al.
9545258 January 17, 2017 Smith et al.
9549732 January 24, 2017 Yates et al.
9549735 January 24, 2017 Shelton, IV et al.
9554794 January 31, 2017 Baber et al.
9554796 January 31, 2017 Kostrzewski
9554812 January 31, 2017 Inkpen et al.
9559624 January 31, 2017 Philipp
9561030 February 7, 2017 Zhang et al.
9561031 February 7, 2017 Heinrich et al.
9561032 February 7, 2017 Shelton, IV et al.
9561038 February 7, 2017 Shelton, IV et al.
9561045 February 7, 2017 Hinman et al.
9566061 February 14, 2017 Aronhalt et al.
9566067 February 14, 2017 Milliman et al.
9572574 February 21, 2017 Shelton, IV et al.
9572577 February 21, 2017 Lloyd et al.
9572592 February 21, 2017 Price et al.
9574644 February 21, 2017 Parihar
D781879 March 21, 2017 Butcher et al.
9585550 March 7, 2017 Abel et al.
9585657 March 7, 2017 Shelton, IV et al.
9585658 March 7, 2017 Shelton, IV
9585659 March 7, 2017 Viola et al.
9585660 March 7, 2017 Laurent et al.
9585662 March 7, 2017 Shelton, IV et al.
9585663 March 7, 2017 Shelton, IV et al.
9585672 March 7, 2017 Bastia
9590433 March 7, 2017 Li
9592050 March 14, 2017 Schmid et al.
9592052 March 14, 2017 Shelton, IV
9592053 March 14, 2017 Shelton, IV et al.
9592054 March 14, 2017 Schmid et al.
9597073 March 21, 2017 Sorrentino et al.
9597075 March 21, 2017 Shelton, IV et al.
9597080 March 21, 2017 Milliman et al.
9597104 March 21, 2017 Nicholas et al.
9597143 March 21, 2017 Madan et al.
9603595 March 28, 2017 Shelton, IV et al.
9603598 March 28, 2017 Shelton, IV et al.
9603991 March 28, 2017 Shelton, IV et al.
9610080 April 4, 2017 Whitfield et al.
9614258 April 4, 2017 Takahashi et al.
9615826 April 11, 2017 Shelton, IV et al.
9629623 April 25, 2017 Lytle, IV et al.
9629626 April 25, 2017 Soltz et al.
9629629 April 25, 2017 Leimbach et al.
9629652 April 25, 2017 Mumaw et al.
9629814 April 25, 2017 Widenhouse et al.
D788140 May 30, 2017 Hemsley et al.
9636850 May 2, 2017 Stopek (nee Prommersberger) et al.
9641122 May 2, 2017 Romanowich et al.
9642620 May 9, 2017 Baxter, III et al.
9649096 May 16, 2017 Sholev
9649110 May 16, 2017 Parihar et al.
9649111 May 16, 2017 Shelton, IV et al.
9655613 May 23, 2017 Schaller
9655614 May 23, 2017 Swensgard et al.
9655615 May 23, 2017 Knodel et al.
9655624 May 23, 2017 Shelton, IV et al.
9662108 May 30, 2017 Williams
9662110 May 30, 2017 Huang et al.
9662116 May 30, 2017 Smith et al.
9662131 May 30, 2017 Omori et al.
D790570 June 27, 2017 Butcher et al.
9668728 June 6, 2017 Williams et al.
9668729 June 6, 2017 Williams et al.
9668732 June 6, 2017 Patel et al.
9675344 June 13, 2017 Combrowski et al.
9675351 June 13, 2017 Hodgkinson et al.
9675355 June 13, 2017 Shelton, IV et al.
9675372 June 13, 2017 Laurent et al.
9675375 June 13, 2017 Houser et al.
9675405 June 13, 2017 Trees et al.
9681870 June 20, 2017 Baxter, III et al.
9681873 June 20, 2017 Smith et al.
9681884 June 20, 2017 Clem et al.
9687230 June 27, 2017 Leimbach et al.
9687231 June 27, 2017 Baxter, III et al.
9687232 June 27, 2017 Shelton, IV et al.
9687233 June 27, 2017 Fernandez et al.
9687236 June 27, 2017 Leimbach et al.
9687237 June 27, 2017 Schmid et al.
9687253 June 27, 2017 Detry et al.
9689466 June 27, 2017 Kanai et al.
9690362 June 27, 2017 Leimbach et al.
9693772 July 4, 2017 Ingmanson et al.
9693774 July 4, 2017 Gettinger et al.
9693777 July 4, 2017 Schellin et al.
9700309 July 11, 2017 Jaworek et al.
9700310 July 11, 2017 Morgan et al.
9700312 July 11, 2017 Kostrzewski et al.
9700317 July 11, 2017 Aronhalt et al.
9700318 July 11, 2017 Scirica et al.
9700319 July 11, 2017 Motooka et al.
9700321 July 11, 2017 Shelton, IV et al.
9706981 July 18, 2017 Nicholas et al.
9706991 July 18, 2017 Hess et al.
9706993 July 18, 2017 Hessler et al.
9707026 July 18, 2017 Malackowski et al.
9707043 July 18, 2017 Bozung
9707684 July 18, 2017 Ruiz Morales et al.
9713468 July 25, 2017 Harris et al.
9713470 July 25, 2017 Scirica et al.
9717497 August 1, 2017 Zerkle et al.
9717498 August 1, 2017 Aranyi et al.
9724091 August 8, 2017 Shelton, IV et al.
9724092 August 8, 2017 Baxter, III et al.
9724094 August 8, 2017 Baber et al.
9724096 August 8, 2017 Thompson et al.
9724098 August 8, 2017 Baxter, III et al.
9724163 August 8, 2017 Orban
9730692 August 15, 2017 Shelton, IV et al.
9730695 August 15, 2017 Leimbach et al.
9730697 August 15, 2017 Morgan et al.
9730717 August 15, 2017 Katsuki et al.
9731410 August 15, 2017 Hirabayashi et al.
9733663 August 15, 2017 Leimbach et al.
9737297 August 22, 2017 Racenet et al.
9737301 August 22, 2017 Baber et al.
9737302 August 22, 2017 Shelton, IV et al.
9737303 August 22, 2017 Shelton, IV et al.
9737365 August 22, 2017 Hegeman et al.
9743927 August 29, 2017 Whitman
9743928 August 29, 2017 Shelton, IV et al.
9743929 August 29, 2017 Leimbach et al.
9750498 September 5, 2017 Timm et al.
9750499 September 5, 2017 Leimbach et al.
9750501 September 5, 2017 Shelton, IV et al.
9750502 September 5, 2017 Scirica et al.
9750639 September 5, 2017 Barnes et al.
9757123 September 12, 2017 Giordano et al.
9757124 September 12, 2017 Schellin et al.
9757126 September 12, 2017 Cappola
9757128 September 12, 2017 Baber et al.
9757129 September 12, 2017 Williams
9757130 September 12, 2017 Shelton, IV
9763662 September 19, 2017 Shelton, IV et al.
9770245 September 26, 2017 Swayze et al.
9770274 September 26, 2017 Pool et al.
D800904 October 24, 2017 Leimbach et al.
9775608 October 3, 2017 Aronhalt et al.
9775609 October 3, 2017 Shelton, IV et al.
9775610 October 3, 2017 Nicholas et al.
9775611 October 3, 2017 Kostrzewski
9775613 October 3, 2017 Shelton, IV et al.
9775614 October 3, 2017 Shelton, IV et al.
9775635 October 3, 2017 Takei
9782169 October 10, 2017 Kimsey et al.
9782170 October 10, 2017 Zemlok et al.
9782180 October 10, 2017 Smith et al.
9782214 October 10, 2017 Houser et al.
9788834 October 17, 2017 Schmid et al.
9788835 October 17, 2017 Morgan et al.
9788836 October 17, 2017 Overmyer et al.
9788847 October 17, 2017 Jinno
9788851 October 17, 2017 Dannaher et al.
9795379 October 24, 2017 Leimbach et al.
9795381 October 24, 2017 Shelton, IV
9795382 October 24, 2017 Shelton, IV
9795383 October 24, 2017 Aldridge et al.
9795384 October 24, 2017 Weaner et al.
9797486 October 24, 2017 Zergiebel et al.
9801626 October 31, 2017 Parihar et al.
9801627 October 31, 2017 Harris et al.
9801628 October 31, 2017 Harris et al.
9801634 October 31, 2017 Shelton, IV et al.
9802033 October 31, 2017 Hibner et al.
9804618 October 31, 2017 Leimbach et al.
D803850 November 28, 2017 Chang et al.
9808244 November 7, 2017 Leimbach et al.
9808246 November 7, 2017 Shelton, IV et al.
9808247 November 7, 2017 Shelton, IV et al.
9808249 November 7, 2017 Shelton, IV
9814460 November 14, 2017 Kimsey et al.
9814462 November 14, 2017 Woodard, Jr. et al.
9820738 November 21, 2017 Lytle, IV et al.
9820741 November 21, 2017 Kostrzewski
9820768 November 21, 2017 Gee et al.
9825455 November 21, 2017 Sandhu et al.
9826976 November 28, 2017 Parihar et al.
9826977 November 28, 2017 Leimbach et al.
9826978 November 28, 2017 Shelton, IV et al.
9829698 November 28, 2017 Haraguchi et al.
9833236 December 5, 2017 Shelton, IV et al.
9833238 December 5, 2017 Baxter, III et al.
9833239 December 5, 2017 Yates et al.
9833241 December 5, 2017 Huitema et al.
9833242 December 5, 2017 Baxter, III et al.
9839420 December 12, 2017 Shelton, IV et al.
9839421 December 12, 2017 Zerkle et al.
9839422 December 12, 2017 Schellin et al.
9839423 December 12, 2017 Vendely et al.
9839427 December 12, 2017 Swayze et al.
9839428 December 12, 2017 Baxter, III et al.
9839429 December 12, 2017 Weisenburgh, II et al.
9839480 December 12, 2017 Pribanic et al.
9844368 December 19, 2017 Boudreaux et al.
9844369 December 19, 2017 Huitema et al.
9844372 December 19, 2017 Shelton, IV et al.
9844373 December 19, 2017 Swayze et al.
9844374 December 19, 2017 Lytle, IV et al.
9844375 December 19, 2017 Overmyer et al.
9844376 December 19, 2017 Baxter, III et al.
9844379 December 19, 2017 Shelton, IV et al.
9848873 December 26, 2017 Shelton, IV
9848875 December 26, 2017 Aronhalt et al.
9848877 December 26, 2017 Shelton, IV et al.
9855662 January 2, 2018 Ruiz Morales et al.
9861261 January 9, 2018 Shahinian
9861359 January 9, 2018 Shelton, IV et al.
9861361 January 9, 2018 Aronhalt et al.
9861382 January 9, 2018 Smith et al.
9867612 January 16, 2018 Parihar et al.
9867618 January 16, 2018 Hall et al.
9868198 January 16, 2018 Nicholas et al.
9872682 January 23, 2018 Hess et al.
9872683 January 23, 2018 Hopkins et al.
9872684 January 23, 2018 Hall et al.
9877721 January 30, 2018 Schellin et al.
9877723 January 30, 2018 Hall et al.
9883843 February 6, 2018 Garlow
9883860 February 6, 2018 Leimbach et al.
9883861 February 6, 2018 Shelton, IV et al.
9884456 February 6, 2018 Schellin et al.
9888919 February 13, 2018 Leimbach et al.
9888924 February 13, 2018 Ebersole et al.
9889230 February 13, 2018 Bennett et al.
9895147 February 20, 2018 Shelton, IV
9895148 February 20, 2018 Shelton, IV et al.
9895813 February 20, 2018 Blumenkranz et al.
9901341 February 27, 2018 Kostrzewski
9901342 February 27, 2018 Shelton, IV et al.
9901344 February 27, 2018 Moore et al.
9901345 February 27, 2018 Moore et al.
9901346 February 27, 2018 Moore et al.
9907456 March 6, 2018 Miyoshi
9907553 March 6, 2018 Cole et al.
9907620 March 6, 2018 Shelton, IV et al.
9913642 March 13, 2018 Leimbach et al.
9913644 March 13, 2018 McCuen
9913646 March 13, 2018 Shelton, IV
9913647 March 13, 2018 Weisenburgh, II et al.
9913648 March 13, 2018 Shelton, IV et al.
9913694 March 13, 2018 Brisson
9918704 March 20, 2018 Shelton, IV et al.
9918715 March 20, 2018 Menn
9918716 March 20, 2018 Baxter, III et al.
9924942 March 27, 2018 Swayze et al.
9924944 March 27, 2018 Shelton, IV et al.
9924945 March 27, 2018 Zheng et al.
9924946 March 27, 2018 Vendely et al.
9924947 March 27, 2018 Shelton, IV et al.
9924961 March 27, 2018 Shelton, IV et al.
9931116 April 3, 2018 Racenet et al.
9931118 April 3, 2018 Shelton, IV et al.
9936949 April 10, 2018 Measamer et al.
9936950 April 10, 2018 Shelton, IV et al.
9936951 April 10, 2018 Hufnagel et al.
9936954 April 10, 2018 Shelton, IV et al.
9943309 April 17, 2018 Shelton, IV et al.
9943310 April 17, 2018 Harris et al.
9943312 April 17, 2018 Posada et al.
9955965 May 1, 2018 Chen et al.
9955966 May 1, 2018 Zergiebel
9962158 May 8, 2018 Hall et al.
9962159 May 8, 2018 Heinrich et al.
9962161 May 8, 2018 Scheib et al.
9968354 May 15, 2018 Shelton, IV et al.
9968355 May 15, 2018 Shelton, IV et al.
9968356 May 15, 2018 Shelton, IV et al.
9968397 May 15, 2018 Taylor et al.
9974529 May 22, 2018 Shelton, IV et al.
9974538 May 22, 2018 Baxter, III et al.
9974539 May 22, 2018 Yates et al.
9980713 May 29, 2018 Aronhalt et al.
9980729 May 29, 2018 Moore et al.
9980769 May 29, 2018 Trees et al.
9987000 June 5, 2018 Shelton, IV et al.
9987003 June 5, 2018 Timm et al.
9987006 June 5, 2018 Morgan et al.
9987099 June 5, 2018 Chen et al.
9993248 June 12, 2018 Shelton, IV et al.
9993258 June 12, 2018 Shelton, IV et al.
9999408 June 19, 2018 Boudreaux et al.
9999426 June 19, 2018 Moore et al.
9999431 June 19, 2018 Shelton, IV et al.
10004497 June 26, 2018 Overmyer et al.
10004498 June 26, 2018 Morgan et al.
10004500 June 26, 2018 Shelton, IV et al.
10004501 June 26, 2018 Shelton, IV et al.
10004505 June 26, 2018 Moore et al.
10004506 June 26, 2018 Shelton, IV et al.
10010322 July 3, 2018 Shelton, IV et al.
10010324 July 3, 2018 Huitema et al.
10013049 July 3, 2018 Leimbach et al.
10016199 July 10, 2018 Baber et al.
10022125 July 17, 2018 (Prommersberger) Stopek et al.
10024407 July 17, 2018 Aranyi et al.
10028742 July 24, 2018 Shelton, IV et al.
10028743 July 24, 2018 Shelton, IV et al.
10028744 July 24, 2018 Shelton, IV et al.
10028761 July 24, 2018 Leimbach et al.
10029125 July 24, 2018 Shapiro et al.
10034668 July 31, 2018 Ebner
10039440 August 7, 2018 Fenech et al.
10039529 August 7, 2018 Kerr et al.
10039545 August 7, 2018 Sadowski et al.
10041822 August 7, 2018 Zemlok
10045769 August 14, 2018 Aronhalt et al.
10045776 August 14, 2018 Shelton, IV et al.
10045778 August 14, 2018 Yates et al.
10045779 August 14, 2018 Savage et al.
10045781 August 14, 2018 Cropper et al.
10052044 August 21, 2018 Shelton, IV et al.
10052099 August 21, 2018 Morgan et al.
10052100 August 21, 2018 Morgan et al.
10052102 August 21, 2018 Baxter, III et al.
10052104 August 21, 2018 Shelton, IV et al.
10052164 August 21, 2018 Overmyer
10058317 August 28, 2018 Fan et al.
10058327 August 28, 2018 Weisenburgh, II et al.
10058963 August 28, 2018 Shelton, IV et al.
10064620 September 4, 2018 Gettinger et al.
10064621 September 4, 2018 Kerr et al.
10064624 September 4, 2018 Shelton, IV et al.
10064639 September 4, 2018 Ishida et al.
10064649 September 4, 2018 Golebieski et al.
10064688 September 4, 2018 Shelton, IV et al.
10070861 September 11, 2018 Spivey et al.
10070863 September 11, 2018 Swayze et al.
10071452 September 11, 2018 Shelton, IV et al.
10076325 September 18, 2018 Huang et al.
10076326 September 18, 2018 Yates et al.
D831209 October 16, 2018 Huitema et al.
10085624 October 2, 2018 Isoda et al.
10085748 October 2, 2018 Morgan et al.
10085751 October 2, 2018 Overmyer et al.
10085806 October 2, 2018 Hagn et al.
10092292 October 9, 2018 Boudreaux et al.
10098636 October 16, 2018 Shelton, IV et al.
10098642 October 16, 2018 Baxter, III et al.
10099303 October 16, 2018 Yoshida et al.
10105128 October 23, 2018 Cooper et al.
10105136 October 23, 2018 Yates et al.
10105139 October 23, 2018 Yates et al.
10105140 October 23, 2018 Malinouskas et al.
10111679 October 30, 2018 Baber et al.
10117649 November 6, 2018 Baxter, III et al.
10117652 November 6, 2018 Schmid et al.
10117653 November 6, 2018 Leimbach et al.
10117654 November 6, 2018 Ingmanson et al.
10123798 November 13, 2018 Baxter, III et al.
10130352 November 20, 2018 Widenhouse et al.
10130359 November 20, 2018 Hess et al.
10130361 November 20, 2018 Yates et al.
10130363 November 20, 2018 Huitema et al.
10130366 November 20, 2018 Shelton, IV et al.
10133248 November 20, 2018 Fitzsimmons et al.
10135242 November 20, 2018 Baber et al.
10136887 November 27, 2018 Shelton, IV et al.
10136889 November 27, 2018 Shelton, IV et al.
10136890 November 27, 2018 Shelton, IV et al.
10143474 December 4, 2018 Bucciaglia et al.
10149679 December 11, 2018 Shelton, IV et al.
10149680 December 11, 2018 Parihar et al.
10149682 December 11, 2018 Shelton, IV et al.
10149683 December 11, 2018 Smith et al.
10149712 December 11, 2018 Manwaring et al.
10154841 December 18, 2018 Weaner et al.
20010000531 April 26, 2001 Casscells et al.
20010025183 September 27, 2001 Shahidi
20020014510 February 7, 2002 Richter et al.
20020022810 February 21, 2002 Urich
20020022836 February 21, 2002 Goble et al.
20020022861 February 21, 2002 Jacobs et al.
20020029032 March 7, 2002 Arkin
20020029036 March 7, 2002 Goble et al.
20020042620 April 11, 2002 Julian et al.
20020091374 July 11, 2002 Cooper
20020095175 July 18, 2002 Brock et al.
20020103494 August 1, 2002 Pacey
20020117534 August 29, 2002 Green et al.
20020127265 September 12, 2002 Bowman et al.
20020128633 September 12, 2002 Brock et al.
20020134811 September 26, 2002 Napier et al.
20020135474 September 26, 2002 Sylliassen
20020143340 October 3, 2002 Kaneko
20020158593 October 31, 2002 Henderson et al.
20020185514 December 12, 2002 Adams et al.
20020188170 December 12, 2002 Santamore et al.
20020188287 December 12, 2002 Zvuloni et al.
20030009193 January 9, 2003 Corsaro
20030011245 January 16, 2003 Fiebig
20030050628 March 13, 2003 Whitman
20030066858 April 10, 2003 Holgersson
20030078647 April 24, 2003 Vallana et al.
20030083648 May 1, 2003 Wang et al.
20030084983 May 8, 2003 Rangachari et al.
20030093103 May 15, 2003 Malackowski et al.
20030094356 May 22, 2003 Waldron
20030096158 May 22, 2003 Takano et al.
20030114851 June 19, 2003 Truckai et al.
20030139741 July 24, 2003 Goble et al.
20030153908 August 14, 2003 Goble et al.
20030153968 August 14, 2003 Geis et al.
20030163085 August 28, 2003 Tanner et al.
20030181900 September 25, 2003 Long
20030190584 October 9, 2003 Heasley
20030195387 October 16, 2003 Kortenbach et al.
20030205029 November 6, 2003 Chapolini et al.
20030212005 November 13, 2003 Petito et al.
20030216732 November 20, 2003 Truckai et al.
20030236505 December 25, 2003 Bonadio et al.
20040006335 January 8, 2004 Garrison
20040006340 January 8, 2004 Latterell et al.
20040007608 January 15, 2004 Ehrenfels et al.
20040024457 February 5, 2004 Boyce et al.
20040028502 February 12, 2004 Cummins
20040030333 February 12, 2004 Goble
20040034357 February 19, 2004 Beane et al.
20040044364 March 4, 2004 DeVries et al.
20040049121 March 11, 2004 Yaron
20040049172 March 11, 2004 Root et al.
20040059362 March 25, 2004 Knodel et al.
20040068161 April 8, 2004 Couvillon
20040068224 April 8, 2004 Couvillon et al.
20040068307 April 8, 2004 Goble
20040070369 April 15, 2004 Sakakibara
20040073222 April 15, 2004 Koseki
20040078037 April 22, 2004 Batchelor et al.
20040085180 May 6, 2004 Juang
20040093024 May 13, 2004 Lousararian et al.
20040098040 May 20, 2004 Taniguchi et al.
20040101822 May 27, 2004 Wiesner et al.
20040102783 May 27, 2004 Sutterlin et al.
20040108357 June 10, 2004 Milliman et al.
20040110439 June 10, 2004 Chaikof et al.
20040115022 June 17, 2004 Albertson et al.
20040116952 June 17, 2004 Sakurai et al.
20040119185 June 24, 2004 Chen
20040122423 June 24, 2004 Dycus et al.
20040133095 July 8, 2004 Dunki-Jacobs et al.
20040143297 July 22, 2004 Ramsey
20040147909 July 29, 2004 Johnston et al.
20040153100 August 5, 2004 Ahlberg et al.
20040158261 August 12, 2004 Vu
20040164123 August 26, 2004 Racenet et al.
20040166169 August 26, 2004 Malaviya et al.
20040167572 August 26, 2004 Roth et al.
20040181219 September 16, 2004 Goble et al.
20040193189 September 30, 2004 Kortenbach et al.
20040197367 October 7, 2004 Rezania et al.
20040199181 October 7, 2004 Knodel et al.
20040204735 October 14, 2004 Shiroff et al.
20040222268 November 11, 2004 Bilotti et al.
20040225186 November 11, 2004 Horne et al.
20040232201 November 25, 2004 Wenchell et al.
20040236352 November 25, 2004 Wang et al.
20040243147 December 2, 2004 Lipow
20040243151 December 2, 2004 Demmy et al.
20040243163 December 2, 2004 Casiano et al.
20040247415 December 9, 2004 Mangone
20040249366 December 9, 2004 Kunz
20040254455 December 16, 2004 Iddan
20040254566 December 16, 2004 Plicchi et al.
20040254590 December 16, 2004 Hoffman et al.
20040260315 December 23, 2004 Dell et al.
20040267310 December 30, 2004 Racenet et al.
20050010158 January 13, 2005 Brugger et al.
20050010213 January 13, 2005 Stad et al.
20050021078 January 27, 2005 Vleugels et al.
20050032511 February 10, 2005 Malone et al.
20050033352 February 10, 2005 Zepf et al.
20050051163 March 10, 2005 Deem et al.
20050054946 March 10, 2005 Krzyzanowski
20050057225 March 17, 2005 Marquet
20050058890 March 17, 2005 Brazell et al.
20050059997 March 17, 2005 Bauman et al.
20050070929 March 31, 2005 Dalessandro et al.
20050075561 April 7, 2005 Golden
20050080342 April 14, 2005 Gilreath et al.
20050085693 April 21, 2005 Belson et al.
20050090817 April 28, 2005 Phan
20050096683 May 5, 2005 Ellins et al.
20050116673 June 2, 2005 Carl et al.
20050124855 June 9, 2005 Jaffe et al.
20050125897 June 16, 2005 Wyslucha et al.
20050130682 June 16, 2005 Takara et al.
20050131173 June 16, 2005 McDaniel et al.
20050131211 June 16, 2005 Bayley et al.
20050131390 June 16, 2005 Heinrich
20050131436 June 16, 2005 Johnston et al.
20050131457 June 16, 2005 Douglas et al.
20050137454 June 23, 2005 Saadat et al.
20050137455 June 23, 2005 Ewers et al.
20050139636 June 30, 2005 Schwemberger et al.
20050143759 June 30, 2005 Kelly
20050143769 June 30, 2005 White et al.
20050145671 July 7, 2005 Viola
20050150928 July 14, 2005 Kameyama et al.
20050154258 July 14, 2005 Tartaglia et al.
20050154406 July 14, 2005 Bombard et al.
20050159778 July 21, 2005 Heinrich et al.
20050165419 July 28, 2005 Sauer et al.
20050169974 August 4, 2005 Tenerz et al.
20050171522 August 4, 2005 Christopherson
20050177181 August 11, 2005 Kagan et al.
20050177249 August 11, 2005 Kladakis et al.
20050182298 August 18, 2005 Ikeda et al.
20050184121 August 25, 2005 Heinrich
20050186240 August 25, 2005 Ringeisen et al.
20050187545 August 25, 2005 Hooven et al.
20050203550 September 15, 2005 Laufer et al.
20050209614 September 22, 2005 Fenter et al.
20050216055 September 29, 2005 Scirica et al.
20050222587 October 6, 2005 Jinno et al.
20050222611 October 6, 2005 Weitkamp
20050222616 October 6, 2005 Rethy et al.
20050222665 October 6, 2005 Aranyi
20050228224 October 13, 2005 Okada et al.
20050228446 October 13, 2005 Mooradian et al.
20050230453 October 20, 2005 Viola
20050240178 October 27, 2005 Morley et al.
20050245965 November 3, 2005 Orban, III et al.
20050246881 November 10, 2005 Kelly et al.
20050251063 November 10, 2005 Basude
20050256452 November 17, 2005 DeMarchi et al.
20050261676 November 24, 2005 Hall et al.
20050263563 December 1, 2005 Racenet et al.
20050267455 December 1, 2005 Eggers et al.
20050274034 December 15, 2005 Hayashida et al.
20050283188 December 22, 2005 Loshakove et al.
20060008787 January 12, 2006 Hayman et al.
20060015009 January 19, 2006 Jaffe et al.
20060020258 January 26, 2006 Strauss et al.
20060020336 January 26, 2006 Liddicoat
20060025812 February 2, 2006 Shelton
20060041188 February 23, 2006 Dirusso et al.
20060047275 March 2, 2006 Goble
20060049229 March 9, 2006 Milliman et al.
20060052824 March 9, 2006 Ransick et al.
20060052825 March 9, 2006 Ransick et al.
20060064086 March 23, 2006 Odom
20060079735 April 13, 2006 Martone et al.
20060079879 April 13, 2006 Faller et al.
20060086032 April 27, 2006 Valencic et al.
20060087746 April 27, 2006 Lipow
20060089535 April 27, 2006 Raz et al.
20060100643 May 11, 2006 Laufer et al.
20060100649 May 11, 2006 Hart
20060111210 May 25, 2006 Hinman
20060111711 May 25, 2006 Goble
20060111723 May 25, 2006 Chapolini et al.
20060116634 June 1, 2006 Shachar
20060142772 June 29, 2006 Ralph et al.
20060161050 July 20, 2006 Butler et al.
20060161185 July 20, 2006 Saadat et al.
20060167471 July 27, 2006 Phillips
20060173470 August 3, 2006 Oray et al.
20060176031 August 10, 2006 Forman et al.
20060178556 August 10, 2006 Hasser et al.
20060180633 August 17, 2006 Emmons
20060180634 August 17, 2006 Shelton et al.
20060185682 August 24, 2006 Marczyk
20060199999 September 7, 2006 Ikeda et al.
20060201989 September 14, 2006 Ojeda
20060206100 September 14, 2006 Eskridge et al.
20060217729 September 28, 2006 Eskridge et al.
20060235368 October 19, 2006 Oz
20060244460 November 2, 2006 Weaver
20060252990 November 9, 2006 Kubach
20060252993 November 9, 2006 Freed et al.
20060258904 November 16, 2006 Stefanchik et al.
20060259073 November 16, 2006 Miyamoto et al.
20060261763 November 23, 2006 Iott et al.
20060264831 November 23, 2006 Skwarek et al.
20060264929 November 23, 2006 Goble et al.
20060271042 November 30, 2006 Latterell et al.
20060271102 November 30, 2006 Bosshard et al.
20060282064 December 14, 2006 Shimizu et al.
20060284730 December 21, 2006 Schmid et al.
20060287576 December 21, 2006 Tsuji et al.
20060289602 December 28, 2006 Wales et al.
20060291981 December 28, 2006 Viola et al.
20070010702 January 11, 2007 Wang et al.
20070010838 January 11, 2007 Shelton et al.
20070016235 January 18, 2007 Tanaka et al.
20070026039 February 1, 2007 Drumheller et al.
20070026040 February 1, 2007 Crawley et al.
20070027468 February 1, 2007 Wales et al.
20070027551 February 1, 2007 Farnsworth et al.
20070043387 February 22, 2007 Vargas et al.
20070049951 March 1, 2007 Menn
20070049966 March 1, 2007 Bonadio et al.
20070051375 March 8, 2007 Milliman
20070055228 March 8, 2007 Berg et al.
20070073341 March 29, 2007 Smith et al.
20070073389 March 29, 2007 Bolduc et al.
20070078328 April 5, 2007 Ozaki et al.
20070078484 April 5, 2007 Talarico et al.
20070084897 April 19, 2007 Shelton et al.
20070090788 April 26, 2007 Hansford et al.
20070093869 April 26, 2007 Bloom et al.
20070102472 May 10, 2007 Shelton
20070106113 May 10, 2007 Ravo
20070106317 May 10, 2007 Shelton et al.
20070134251 June 14, 2007 Ashkenazi et al.
20070135686 June 14, 2007 Pruitt et al.
20070135803 June 14, 2007 Belson
20070152612 July 5, 2007 Chen et al.
20070155010 July 5, 2007 Farnsworth et al.
20070170225 July 26, 2007 Shelton et al.
20070173687 July 26, 2007 Shima et al.
20070173813 July 26, 2007 Odom
20070175950 August 2, 2007 Shelton et al.
20070175951 August 2, 2007 Shelton et al.
20070175955 August 2, 2007 Shelton et al.
20070175964 August 2, 2007 Shelton, IV
20070179477 August 2, 2007 Danger
20070185545 August 9, 2007 Duke
20070190110 August 16, 2007 Pameijer et al.
20070191868 August 16, 2007 Theroux et al.
20070194079 August 23, 2007 Hueil et al.
20070194082 August 23, 2007 Morgan et al.
20070197954 August 23, 2007 Keenan
20070198039 August 23, 2007 Jones et al.
20070203510 August 30, 2007 Bettuchi
20070207010 September 6, 2007 Caspi
20070208359 September 6, 2007 Hoffman
20070208375 September 6, 2007 Nishizawa et al.
20070213750 September 13, 2007 Weadock
20070225562 September 27, 2007 Spivey et al.
20070233163 October 4, 2007 Bombard et al.
20070243227 October 18, 2007 Gertner
20070244471 October 18, 2007 Malackowski
20070246505 October 25, 2007 Pace-Floridia et al.
20070262592 November 15, 2007 Hwang et al.
20070275035 November 29, 2007 Herman et al.
20070276409 November 29, 2007 Ortiz et al.
20070279011 December 6, 2007 Jones et al.
20070286892 December 13, 2007 Herzberg et al.
20070296286 December 27, 2007 Avenell
20080003196 January 3, 2008 Jonn et al.
20080015598 January 17, 2008 Prommersberger
20080021486 January 24, 2008 Oyola et al.
20080029570 February 7, 2008 Shelton et al.
20080029573 February 7, 2008 Shelton et al.
20080029574 February 7, 2008 Shelton et al.
20080029575 February 7, 2008 Shelton et al.
20080030170 February 7, 2008 Dacquay
20080042861 February 21, 2008 Dacquay et al.
20080051833 February 28, 2008 Gramuglia et al.
20080064921 March 13, 2008 Larkin et al.
20080065153 March 13, 2008 Allard et al.
20080071328 March 20, 2008 Haubrich et al.
20080078802 April 3, 2008 Hess et al.
20080082114 April 3, 2008 McKenna et al.
20080082125 April 3, 2008 Murray et al.
20080082126 April 3, 2008 Murray et al.
20080083807 April 10, 2008 Beardsley et al.
20080085296 April 10, 2008 Powell et al.
20080086078 April 10, 2008 Powell et al.
20080091072 April 17, 2008 Omori et al.
20080108443 May 8, 2008 Jinno et al.
20080114250 May 15, 2008 Urbano et al.
20080125634 May 29, 2008 Ryan et al.
20080125749 May 29, 2008 Olson
20080128469 June 5, 2008 Dalessandro et al.
20080129253 June 5, 2008 Shiue et al.
20080135600 June 12, 2008 Hiranuma et al.
20080140115 June 12, 2008 Stopek
20080140159 June 12, 2008 Bornhoft et al.
20080154299 June 26, 2008 Livneh
20080154335 June 26, 2008 Thrope et al.
20080167522 July 10, 2008 Giordano
20080169328 July 17, 2008 Shelton
20080169332 July 17, 2008 Shelton et al.
20080169333 July 17, 2008 Shelton et al.
20080172087 July 17, 2008 Fuchs et al.
20080183193 July 31, 2008 Omori et al.
20080190989 August 14, 2008 Crews et al.
20080196419 August 21, 2008 Dube
20080197167 August 21, 2008 Viola et al.
20080200755 August 21, 2008 Bakos
20080200762 August 21, 2008 Stokes et al.
20080200835 August 21, 2008 Monson et al.
20080200911 August 21, 2008 Long
20080200933 August 21, 2008 Bakos et al.
20080200934 August 21, 2008 Fox
20080234709 September 25, 2008 Houser
20080238370 October 2, 2008 Carrier
20080242939 October 2, 2008 Johnston
20080249536 October 9, 2008 Stahler et al.
20080249608 October 9, 2008 Dave
20080255413 October 16, 2008 Zemlok et al.
20080262654 October 23, 2008 Omori et al.
20080269596 October 30, 2008 Revie et al.
20080281171 November 13, 2008 Fennell et al.
20080287944 November 20, 2008 Pearson et al.
20080293910 November 27, 2008 Kapiamba et al.
20080294179 November 27, 2008 Balbierz et al.
20080296346 December 4, 2008 Shelton, IV et al.
20080297287 December 4, 2008 Shachar et al.
20080300580 December 4, 2008 Shelton, IV
20080308602 December 18, 2008 Timm et al.
20080308603 December 18, 2008 Shelton et al.
20080312687 December 18, 2008 Blier
20080315829 December 25, 2008 Jones et al.
20090001121 January 1, 2009 Hess et al.
20090001130 January 1, 2009 Hess et al.
20090004455 January 1, 2009 Gravagna et al.
20090005809 January 1, 2009 Hess et al.
20090012534 January 8, 2009 Madhani et al.
20090015195 January 15, 2009 Loth-Krausser
20090020958 January 22, 2009 Soul
20090048583 February 19, 2009 Williams et al.
20090048589 February 19, 2009 Takashino et al.
20090076506 March 19, 2009 Baker
20090078736 March 26, 2009 Van Lue
20090081313 March 26, 2009 Aghion et al.
20090088659 April 2, 2009 Graham et al.
20090090763 April 9, 2009 Zemlok et al.
20090092651 April 9, 2009 Shah et al.
20090099579 April 16, 2009 Nentwick et al.
20090099876 April 16, 2009 Whitman
20090119011 May 7, 2009 Kondo et al.
20090143855 June 4, 2009 Weber et al.
20090149871 June 11, 2009 Kagan et al.
20090171147 July 2, 2009 Lee et al.
20090177226 July 9, 2009 Reinprecht et al.
20090181290 July 16, 2009 Baldwin et al.
20090188964 July 30, 2009 Orlov
20090198272 August 6, 2009 Kerver et al.
20090204108 August 13, 2009 Steffen
20090204109 August 13, 2009 Grove et al.
20090206125 August 20, 2009 Huitema et al.
20090206126 August 20, 2009 Huitema et al.
20090206131 August 20, 2009 Weisenburgh, II et al.
20090206133 August 20, 2009 Morgan et al.
20090206137 August 20, 2009 Hall et al.
20090206139 August 20, 2009 Hall et al.
20090206141 August 20, 2009 Huitema et al.
20090206142 August 20, 2009 Huitema et al.
20090221993 September 3, 2009 Sohi et al.
20090234273 September 17, 2009 Intoccia et al.
20090242610 October 1, 2009 Shelton, IV et al.
20090247368 October 1, 2009 Chiang
20090247901 October 1, 2009 Zimmer
20090248041 October 1, 2009 Williams et al.
20090253959 October 8, 2009 Yoshie et al.
20090255974 October 15, 2009 Viola
20090262078 October 22, 2009 Pizzi
20090270895 October 29, 2009 Churchill et al.
20090290016 November 26, 2009 Suda
20090292283 November 26, 2009 Odom
20090306639 December 10, 2009 Nevo et al.
20090308907 December 17, 2009 Nalagatla et al.
20100012703 January 21, 2010 Calabrese et al.
20100016888 January 21, 2010 Calabrese et al.
20100023024 January 28, 2010 Zeiner et al.
20100030233 February 4, 2010 Whitman et al.
20100036370 February 11, 2010 Mirel et al.
20100065604 March 18, 2010 Weng
20100069942 March 18, 2010 Shelton, IV
20100076483 March 25, 2010 Imuta
20100076489 March 25, 2010 Stopek et al.
20100081883 April 1, 2010 Murray et al.
20100094340 April 15, 2010 Stopek et al.
20100100124 April 22, 2010 Calabrese et al.
20100116519 May 13, 2010 Gareis
20100122339 May 13, 2010 Boccacci
20100133317 June 3, 2010 Shelton, IV et al.
20100145146 June 10, 2010 Melder
20100147921 June 17, 2010 Olson
20100147922 June 17, 2010 Olson
20100179022 July 15, 2010 Shirokoshi
20100180711 July 22, 2010 Kilibarda et al.
20100191262 July 29, 2010 Harris et al.
20100191292 July 29, 2010 DeMeo et al.
20100193566 August 5, 2010 Scheib et al.
20100204717 August 12, 2010 Knodel
20100222901 September 2, 2010 Swayze et al.
20100241137 September 23, 2010 Doyle et al.
20100249497 September 30, 2010 Peine et al.
20100256675 October 7, 2010 Romans
20100258327 October 14, 2010 Esenwein et al.
20100267662 October 21, 2010 Fielder et al.
20100274160 October 28, 2010 Yachi et al.
20100292540 November 18, 2010 Hess et al.
20100298636 November 25, 2010 Castro et al.
20100312261 December 9, 2010 Suzuki et al.
20100318085 December 16, 2010 Austin et al.
20100331856 December 30, 2010 Carlson et al.
20110006101 January 13, 2011 Hall et al.
20110011916 January 20, 2011 Levine
20110016960 January 27, 2011 Debrailly
20110021871 January 27, 2011 Berkelaar
20110022032 January 27, 2011 Zemlok et al.
20110024477 February 3, 2011 Hall
20110024478 February 3, 2011 Shelton, IV
20110025311 February 3, 2011 Chauvin et al.
20110034910 February 10, 2011 Ross et al.
20110036891 February 17, 2011 Zemlok et al.
20110046667 February 24, 2011 Culligan et al.
20110060363 March 10, 2011 Hess et al.
20110066156 March 17, 2011 McGahan et al.
20110082538 April 7, 2011 Dahlgren et al.
20110087276 April 14, 2011 Bedi et al.
20110087278 April 14, 2011 Viola et al.
20110088921 April 21, 2011 Forgues et al.
20110095064 April 28, 2011 Taylor et al.
20110101069 May 5, 2011 Bombard et al.
20110101794 May 5, 2011 Schroeder et al.
20110112517 May 12, 2011 Peine et al.
20110112530 May 12, 2011 Keller
20110114697 May 19, 2011 Baxter, III et al.
20110121049 May 26, 2011 Malinouskas et al.
20110125176 May 26, 2011 Yates et al.
20110127945 June 2, 2011 Yoneda
20110129706 June 2, 2011 Takahashi et al.
20110144764 June 16, 2011 Bagga et al.
20110147433 June 23, 2011 Shelton, IV et al.
20110163146 July 7, 2011 Ortiz et al.
20110172495 July 14, 2011 Armstrong
20110174861 July 21, 2011 Shelton, IV et al.
20110192882 August 11, 2011 Hess et al.
20110199225 August 18, 2011 Touchberry et al.
20110218400 September 8, 2011 Ma et al.
20110218550 September 8, 2011 Ma
20110230713 September 22, 2011 Kleemann et al.
20110238044 September 29, 2011 Main et al.
20110241597 October 6, 2011 Zhu et al.
20110275901 November 10, 2011 Shelton, IV
20110276083 November 10, 2011 Shelton, IV et al.
20110278343 November 17, 2011 Knodel et al.
20110279268 November 17, 2011 Konishi et al.
20110290856 December 1, 2011 Shelton, IV et al.
20110293690 December 1, 2011 Griffin et al.
20110295295 December 1, 2011 Shelton, IV et al.
20110313894 December 22, 2011 Dye et al.
20110315413 December 29, 2011 Fisher et al.
20120004636 January 5, 2012 Lo
20120016239 January 19, 2012 Barthe et al.
20120016413 January 19, 2012 Timm et al.
20120016467 January 19, 2012 Chen et al.
20120029272 February 2, 2012 Shelton, IV et al.
20120033360 February 9, 2012 Hsu
20120059286 March 8, 2012 Hastings et al.
20120064483 March 15, 2012 Lint et al.
20120074200 March 29, 2012 Schmid et al.
20120078071 March 29, 2012 Bohm et al.
20120078139 March 29, 2012 Aldridge et al.
20120078244 March 29, 2012 Worrell et al.
20120080336 April 5, 2012 Shelton, IV et al.
20120080344 April 5, 2012 Shelton, IV
20120080478 April 5, 2012 Morgan et al.
20120080498 April 5, 2012 Shelton, IV et al.
20120086276 April 12, 2012 Sawyers
20120095458 April 19, 2012 Cybulski et al.
20120109186 May 3, 2012 Parrott et al.
20120116261 May 10, 2012 Mumaw et al.
20120116262 May 10, 2012 Houser et al.
20120116265 May 10, 2012 Houser et al.
20120116266 May 10, 2012 Houser et al.
20120118595 May 17, 2012 Pellenc
20120123203 May 17, 2012 Riva
20120125792 May 24, 2012 Cassivi
20120132286 May 31, 2012 Lim et al.
20120171539 July 5, 2012 Rejman et al.
20120175398 July 12, 2012 Sandborn et al.
20120197272 August 2, 2012 Oray et al.
20120211542 August 23, 2012 Racenet
20120223121 September 6, 2012 Viola et al.
20120234895 September 20, 2012 O'Connor et al.
20120234897 September 20, 2012 Shelton, IV et al.
20120239068 September 20, 2012 Morris et al.
20120248169 October 4, 2012 Widenhouse et al.
20120251861 October 4, 2012 Liang et al.
20120253328 October 4, 2012 Cunningham et al.
20120283707 November 8, 2012 Giordano et al.
20120289979 November 15, 2012 Eskaros et al.
20120292367 November 22, 2012 Morgan et al.
20120298722 November 29, 2012 Hess et al.
20120303002 November 29, 2012 Chowaniec et al.
20130006227 January 3, 2013 Takashino
20130012983 January 10, 2013 Kleyman
20130018400 January 17, 2013 Milton et al.
20130020375 January 24, 2013 Shelton, IV et al.
20130020376 January 24, 2013 Shelton, IV et al.
20130023861 January 24, 2013 Shelton, IV et al.
20130023910 January 24, 2013 Solomon et al.
20130026208 January 31, 2013 Shelton, IV et al.
20130026210 January 31, 2013 Shelton, IV et al.
20130030462 January 31, 2013 Keating et al.
20130057162 March 7, 2013 Pollischansky
20130068816 March 21, 2013 Mandakolathur Vasudevan et al.
20130087597 April 11, 2013 Shelton, IV et al.
20130090534 April 11, 2013 Burns et al.
20130096568 April 18, 2013 Justis
20130098970 April 25, 2013 Racenet et al.
20130105550 May 2, 2013 Zemlok et al.
20130105552 May 2, 2013 Weir et al.
20130116669 May 9, 2013 Shelton, IV et al.
20130123816 May 16, 2013 Hodgkinson et al.
20130126202 May 23, 2013 Oomori et al.
20130131476 May 23, 2013 Siu et al.
20130131651 May 23, 2013 Strobl et al.
20130136969 May 30, 2013 Yasui et al.
20130153636 June 20, 2013 Shelton, IV et al.
20130153641 June 20, 2013 Shelton, IV et al.
20130158390 June 20, 2013 Tan et al.
20130162198 June 27, 2013 Yokota et al.
20130172878 July 4, 2013 Smith
20130175317 July 11, 2013 Yates et al.
20130181033 July 18, 2013 Shelton, IV et al.
20130181034 July 18, 2013 Shelton, IV et al.
20130214025 August 22, 2013 Zemlok et al.
20130214030 August 22, 2013 Aronhalt et al.
20130233906 September 12, 2013 Hess et al.
20130238021 September 12, 2013 Gross et al.
20130248578 September 26, 2013 Arteaga Gonzalez
20130253480 September 26, 2013 Kimball et al.
20130256373 October 3, 2013 Schmid et al.
20130256379 October 3, 2013 Schmid et al.
20130256380 October 3, 2013 Schmid et al.
20130270322 October 17, 2013 Scheib et al.
20130277410 October 24, 2013 Fernandez et al.
20130317753 November 28, 2013 Kamen et al.
20130324981 December 5, 2013 Smith et al.
20130324982 December 5, 2013 Smith et al.
20130327552 December 12, 2013 Lovelass et al.
20130333910 December 19, 2013 Tanimoto et al.
20130334280 December 19, 2013 Krehel et al.
20130334283 December 19, 2013 Swayze et al.
20130334284 December 19, 2013 Swayze et al.
20130334285 December 19, 2013 Swayze et al.
20130341374 December 26, 2013 Shelton, IV et al.
20140001231 January 2, 2014 Shelton, IV et al.
20140001234 January 2, 2014 Shelton, IV et al.
20140005640 January 2, 2014 Shelton, IV et al.
20140005678 January 2, 2014 Shelton, IV et al.
20140005702 January 2, 2014 Timm et al.
20140005718 January 2, 2014 Shelton, IV et al.
20140012289 January 9, 2014 Snow et al.
20140012299 January 9, 2014 Stoddard et al.
20140014705 January 16, 2014 Baxter, III
20140018832 January 16, 2014 Shelton, IV
20140039549 February 6, 2014 Belsky et al.
20140048580 February 20, 2014 Merchant et al.
20140081176 March 20, 2014 Hassan
20140100558 April 10, 2014 Schmitz et al.
20140107640 April 17, 2014 Yates et al.
20140110456 April 24, 2014 Taylor
20140114327 April 24, 2014 Boudreaux et al.
20140115229 April 24, 2014 Kothamasu et al.
20140131418 May 15, 2014 Kostrzewski
20140151433 June 5, 2014 Shelton, IV et al.
20140158747 June 12, 2014 Measamer et al.
20140166724 June 19, 2014 Schellin et al.
20140166725 June 19, 2014 Schellin et al.
20140166726 June 19, 2014 Schellin et al.
20140171966 June 19, 2014 Giordano et al.
20140175147 June 26, 2014 Manoux et al.
20140175150 June 26, 2014 Shelton, IV et al.
20140175152 June 26, 2014 Hess et al.
20140188159 July 3, 2014 Steege
20140200561 July 17, 2014 Ingmanson et al.
20140207124 July 24, 2014 Aldridge et al.
20140207125 July 24, 2014 Applegate et al.
20140224857 August 14, 2014 Schmid
20140228867 August 14, 2014 Thomas et al.
20140230595 August 21, 2014 Butt et al.
20140243865 August 28, 2014 Swayze et al.
20140246475 September 4, 2014 Hall et al.
20140248167 September 4, 2014 Sugimoto et al.
20140249557 September 4, 2014 Koch, Jr. et al.
20140249573 September 4, 2014 Arav
20140263541 September 18, 2014 Leimbach et al.
20140263552 September 18, 2014 Hall et al.
20140263554 September 18, 2014 Leimbach et al.
20140263558 September 18, 2014 Hausen et al.
20140276730 September 18, 2014 Boudreaux et al.
20140284371 September 25, 2014 Morgan et al.
20140288460 September 25, 2014 Ouyang et al.
20140291378 October 2, 2014 Shelton, IV et al.
20140291379 October 2, 2014 Schellin et al.
20140291383 October 2, 2014 Spivey et al.
20140299648 October 9, 2014 Shelton, IV et al.
20140303645 October 9, 2014 Morgan et al.
20140303660 October 9, 2014 Boyden et al.
20140309666 October 16, 2014 Shelton, IV et al.
20140330161 November 6, 2014 Swayze et al.
20140367445 December 18, 2014 Ingmanson et al.
20140374130 December 25, 2014 Nakamura et al.
20140378950 December 25, 2014 Chiu
20150002089 January 1, 2015 Rejman et al.
20150008248 January 8, 2015 Giordano et al.
20150053737 February 26, 2015 Leimbach et al.
20150053742 February 26, 2015 Shelton, IV et al.
20150053743 February 26, 2015 Yates et al.
20150053746 February 26, 2015 Shelton, IV et al.
20150053748 February 26, 2015 Yates et al.
20150060518 March 5, 2015 Shelton, IV et al.
20150060519 March 5, 2015 Shelton, IV et al.
20150060520 March 5, 2015 Shelton, IV et al.
20150060521 March 5, 2015 Weisenburgh, II et al.
20150066000 March 5, 2015 An et al.
20150073357 March 12, 2015 Bagwell et al.
20150076207 March 19, 2015 Boudreaux et al.
20150076208 March 19, 2015 Shelton, IV
20150076209 March 19, 2015 Shelton, IV et al.
20150076210 March 19, 2015 Shelton, IV et al.
20150076212 March 19, 2015 Shelton, IV
20150080868 March 19, 2015 Kerr
20150083781 March 26, 2015 Giordano et al.
20150083782 March 26, 2015 Scheib et al.
20150090760 April 2, 2015 Giordano et al.
20150090761 April 2, 2015 Giordano et al.
20150090762 April 2, 2015 Giordano et al.
20150090763 April 2, 2015 Murray et al.
20150108199 April 23, 2015 Shelton, IV et al.
20150122870 May 7, 2015 Zemlok et al.
20150134077 May 14, 2015 Shelton, IV et al.
20150148830 May 28, 2015 Stulen et al.
20150150554 June 4, 2015 Soltz
20150150620 June 4, 2015 Miyamoto et al.
20150173744 June 25, 2015 Shelton, IV et al.
20150173749 June 25, 2015 Shelton, IV et al.
20150173756 June 25, 2015 Baxter, III et al.
20150173789 June 25, 2015 Baxter, III et al.
20150182220 July 2, 2015 Yates et al.
20150196295 July 16, 2015 Shelton, IV et al.
20150196296 July 16, 2015 Swayze et al.
20150196299 July 16, 2015 Swayze et al.
20150196347 July 16, 2015 Yates et al.
20150196348 July 16, 2015 Yates et al.
20150201932 July 23, 2015 Swayze et al.
20150201936 July 23, 2015 Swayze et al.
20150201937 July 23, 2015 Swayze et al.
20150201938 July 23, 2015 Swayze et al.
20150201939 July 23, 2015 Swayze et al.
20150201940 July 23, 2015 Swayze et al.
20150201941 July 23, 2015 Swayze et al.
20150222212 August 6, 2015 Iwata
20150231409 August 20, 2015 Racenet et al.
20150238118 August 27, 2015 Legassey et al.
20150245835 September 3, 2015 Racenet et al.
20150272557 October 1, 2015 Overmyer et al.
20150272571 October 1, 2015 Leimbach et al.
20150272580 October 1, 2015 Leimbach et al.
20150272582 October 1, 2015 Leimbach et al.
20150272604 October 1, 2015 Chowaniec et al.
20150280384 October 1, 2015 Leimbach et al.
20150282810 October 8, 2015 Shelton, IV et al.
20150289873 October 15, 2015 Shelton, IV et al.
20150289874 October 15, 2015 Leimbach et al.
20150297200 October 22, 2015 Fitzsimmons et al.
20150297222 October 22, 2015 Huitema et al.
20150297223 October 22, 2015 Huitema et al.
20150297225 October 22, 2015 Huitema et al.
20150297228 October 22, 2015 Huitema et al.
20150297229 October 22, 2015 Schellin et al.
20150297232 October 22, 2015 Huitema et al.
20150297233 October 22, 2015 Huitema et al.
20150297234 October 22, 2015 Schellin et al.
20150297235 October 22, 2015 Harris et al.
20150297236 October 22, 2015 Harris et al.
20150303417 October 22, 2015 Koeder et al.
20150313594 November 5, 2015 Shelton, IV et al.
20150316431 November 5, 2015 Collins et al.
20150324317 November 12, 2015 Collins et al.
20150327864 November 19, 2015 Hodgkinson et al.
20150335328 November 26, 2015 Shelton, IV et al.
20150336249 November 26, 2015 Iwata et al.
20150342607 December 3, 2015 Shelton, IV et al.
20150351758 December 10, 2015 Shelton, IV et al.
20150351762 December 10, 2015 Vendely et al.
20150351765 December 10, 2015 Valentine et al.
20150352699 December 10, 2015 Sakai et al.
20150366220 December 24, 2015 Zhang et al.
20150372265 December 24, 2015 Morisaku et al.
20150374360 December 31, 2015 Scheib et al.
20150374361 December 31, 2015 Gettinger et al.
20150374363 December 31, 2015 Laurent, IV et al.
20150374368 December 31, 2015 Swayze et al.
20150374369 December 31, 2015 Yates et al.
20150374371 December 31, 2015 Richard et al.
20150374374 December 31, 2015 Shelton, IV et al.
20150374375 December 31, 2015 Shelton, IV et al.
20150374376 December 31, 2015 Shelton, IV
20150374377 December 31, 2015 Shelton, IV
20150374378 December 31, 2015 Giordano et al.
20150374379 December 31, 2015 Shelton, IV
20150380187 December 31, 2015 Zergiebel et al.
20160000430 January 7, 2016 Ming et al.
20160000431 January 7, 2016 Giordano et al.
20160000437 January 7, 2016 Giordano et al.
20160000438 January 7, 2016 Swayze et al.
20160000442 January 7, 2016 Shelton, IV
20160000452 January 7, 2016 Yates et al.
20160000453 January 7, 2016 Yates et al.
20160000513 January 7, 2016 Shelton, IV et al.
20160007992 January 14, 2016 Yates et al.
20160008023 January 14, 2016 Yates et al.
20160015391 January 21, 2016 Shelton, IV et al.
20160023342 January 28, 2016 Koenig et al.
20160030042 February 4, 2016 Heinrich et al.
20160051257 February 25, 2016 Shelton, IV et al.
20160066913 March 10, 2016 Swayze et al.
20160069449 March 10, 2016 Kanai et al.
20160073909 March 17, 2016 Zand et al.
20160074040 March 17, 2016 Widenhouse et al.
20160082161 March 24, 2016 Zilberman et al.
20160089137 March 31, 2016 Hess et al.
20160089142 March 31, 2016 Harris et al.
20160089146 March 31, 2016 Harris et al.
20160089147 March 31, 2016 Harris et al.
20160089149 March 31, 2016 Harris et al.
20160089198 March 31, 2016 Arya et al.
20160095585 April 7, 2016 Zergiebel et al.
20160106431 April 21, 2016 Shelton, IV et al.
20160113653 April 28, 2016 Zingman
20160120544 May 5, 2016 Shelton, IV et al.
20160120545 May 5, 2016 Shelton, IV et al.
20160166248 June 16, 2016 Deville et al.
20160166256 June 16, 2016 Baxter, III et al.
20160166308 June 16, 2016 Manwaring et al.
20160174969 June 23, 2016 Kerr et al.
20160174972 June 23, 2016 Shelton, IV et al.
20160174974 June 23, 2016 Schmid et al.
20160174985 June 23, 2016 Baxter, III et al.
20160183939 June 30, 2016 Shelton, IV et al.
20160183943 June 30, 2016 Shelton, IV
20160183944 June 30, 2016 Swensgard et al.
20160183945 June 30, 2016 Shelton, IV et al.
20160192916 July 7, 2016 Shelton, IV et al.
20160192917 July 7, 2016 Shelton, IV et al.
20160192918 July 7, 2016 Shelton, IV et al.
20160192933 July 7, 2016 Shelton, IV
20160192936 July 7, 2016 Leimbach et al.
20160192977 July 7, 2016 Manwaring et al.
20160192996 July 7, 2016 Spivey et al.
20160199059 July 14, 2016 Shelton, IV et al.
20160199061 July 14, 2016 Shelton, IV et al.
20160199063 July 14, 2016 Mandakolathur Vasudevan et al.
20160199064 July 14, 2016 Shelton, IV et al.
20160199089 July 14, 2016 Hess et al.
20160199956 July 14, 2016 Shelton, IV et al.
20160206310 July 21, 2016 Shelton, IV
20160206314 July 21, 2016 Scheib et al.
20160220248 August 4, 2016 Timm et al.
20160220249 August 4, 2016 Shelton, IV et al.
20160220266 August 4, 2016 Shelton, IV et al.
20160220268 August 4, 2016 Shelton, IV et al.
20160235403 August 18, 2016 Shelton, IV et al.
20160235404 August 18, 2016 Shelton, IV
20160235405 August 18, 2016 Shelton, IV et al.
20160235406 August 18, 2016 Shelton, IV et al.
20160235408 August 18, 2016 Shelton, IV et al.
20160235409 August 18, 2016 Shelton, IV et al.
20160235494 August 18, 2016 Shelton, IV et al.
20160242775 August 25, 2016 Shelton, IV et al.
20160242776 August 25, 2016 Shelton, IV et al.
20160242777 August 25, 2016 Shelton, IV et al.
20160242781 August 25, 2016 Shelton, IV et al.
20160242782 August 25, 2016 Shelton, IV et al.
20160242783 August 25, 2016 Shelton, IV et al.
20160249909 September 1, 2016 Shelton, IV et al.
20160249910 September 1, 2016 Shelton, IV et al.
20160249911 September 1, 2016 Timm et al.
20160249915 September 1, 2016 Beckman et al.
20160249916 September 1, 2016 Shelton, IV et al.
20160249917 September 1, 2016 Beckman et al.
20160249918 September 1, 2016 Shelton, IV et al.
20160249922 September 1, 2016 Morgan et al.
20160249927 September 1, 2016 Beckman et al.
20160256071 September 8, 2016 Shelton, IV et al.
20160256154 September 8, 2016 Shelton, IV et al.
20160256156 September 8, 2016 Shelton, IV et al.
20160256159 September 8, 2016 Pinjala et al.
20160256160 September 8, 2016 Shelton, IV et al.
20160256161 September 8, 2016 Overmyer et al.
20160256185 September 8, 2016 Shelton, IV et al.
20160256229 September 8, 2016 Morgan et al.
20160262745 September 15, 2016 Morgan et al.
20160262746 September 15, 2016 Shelton, IV et al.
20160270780 September 22, 2016 Hall et al.
20160278765 September 29, 2016 Shelton, IV et al.
20160278775 September 29, 2016 Shelton, IV et al.
20160287249 October 6, 2016 Alexander et al.
20160287250 October 6, 2016 Shelton, IV et al.
20160287251 October 6, 2016 Shelton, IV et al.
20160287253 October 6, 2016 Shelton, IV et al.
20160310143 October 27, 2016 Bettuchi
20160331375 November 17, 2016 Shelton, IV et al.
20160345976 December 1, 2016 Gonzalez et al.
20160346034 December 1, 2016 Arya et al.
20160354085 December 8, 2016 Shelton, IV et al.
20160367122 December 22, 2016 Ichimura et al.
20160367245 December 22, 2016 Wise et al.
20160367246 December 22, 2016 Baxter, III et al.
20160367254 December 22, 2016 Baxter, III et al.
20160367255 December 22, 2016 Wise et al.
20160367256 December 22, 2016 Hensel et al.
20160374672 December 29, 2016 Bear et al.
20160374675 December 29, 2016 Shelton, IV et al.
20170000485 January 5, 2017 Shelton, IV et al.
20170007236 January 12, 2017 Shelton, IV et al.
20170007237 January 12, 2017 Yates et al.
20170007238 January 12, 2017 Yates et al.
20170007239 January 12, 2017 Shelton, IV
20170007241 January 12, 2017 Shelton, IV et al.
20170007242 January 12, 2017 Shelton, IV et al.
20170007243 January 12, 2017 Shelton, IV et al.
20170007244 January 12, 2017 Shelton, IV et al.
20170007245 January 12, 2017 Shelton, IV et al.
20170007246 January 12, 2017 Shelton, IV et al.
20170007247 January 12, 2017 Shelton, IV et al.
20170007248 January 12, 2017 Shelton, IV et al.
20170007249 January 12, 2017 Shelton, IV et al.
20170007250 January 12, 2017 Shelton, IV et al.
20170007251 January 12, 2017 Yates et al.
20170007254 January 12, 2017 Jaworek et al.
20170007255 January 12, 2017 Jaworek et al.
20170007341 January 12, 2017 Swensgard et al.
20170007347 January 12, 2017 Jaworek et al.
20170014125 January 19, 2017 Shelton, IV et al.
20170027571 February 2, 2017 Nalagatla et al.
20170027572 February 2, 2017 Nalagatla et al.
20170027573 February 2, 2017 Nalagatla et al.
20170027574 February 2, 2017 Nalagatla et al.
20170049444 February 23, 2017 Schellin et al.
20170049447 February 23, 2017 Barton et al.
20170049448 February 23, 2017 Widenhouse et al.
20170055986 March 2, 2017 Harris et al.
20170055989 March 2, 2017 Shelton, IV et al.
20170055997 March 2, 2017 Swayze et al.
20170055998 March 2, 2017 Baxter, III et al.
20170055999 March 2, 2017 Baxter, III et al.
20170056000 March 2, 2017 Nalagatla et al.
20170056001 March 2, 2017 Shelton, IV et al.
20170056002 March 2, 2017 Nalagatla et al.
20170056004 March 2, 2017 Shelton, IV et al.
20170056005 March 2, 2017 Shelton, IV et al.
20170056006 March 2, 2017 Shelton, IV et al.
20170056007 March 2, 2017 Eckert et al.
20170079640 March 23, 2017 Overmyer et al.
20170079642 March 23, 2017 Overmyer et al.
20170079643 March 23, 2017 Yates et al.
20170079644 March 23, 2017 Overmyer et al.
20170086823 March 30, 2017 Leimbach et al.
20170086827 March 30, 2017 Vendely et al.
20170086829 March 30, 2017 Vendely et al.
20170086830 March 30, 2017 Yates et al.
20170086831 March 30, 2017 Shelton, IV et al.
20170086832 March 30, 2017 Harris et al.
20170086835 March 30, 2017 Harris et al.
20170086836 March 30, 2017 Harris et al.
20170086837 March 30, 2017 Vendely et al.
20170086838 March 30, 2017 Harris et al.
20170086839 March 30, 2017 Vendely et al.
20170086840 March 30, 2017 Harris et al.
20170086841 March 30, 2017 Vendely et al.
20170086842 March 30, 2017 Shelton, IV et al.
20170086843 March 30, 2017 Vendely et al.
20170086844 March 30, 2017 Vendely et al.
20170086845 March 30, 2017 Vendely et al.
20170086936 March 30, 2017 Shelton, IV et al.
20170095250 April 6, 2017 Kostrzewski et al.
20170119386 May 4, 2017 Scheib et al.
20170119387 May 4, 2017 Dalessandro et al.
20170119389 May 4, 2017 Turner et al.
20170119390 May 4, 2017 Schellin et al.
20170119392 May 4, 2017 Shelton, IV et al.
20170119397 May 4, 2017 Harris et al.
20170128149 May 11, 2017 Heinrich et al.
20170135695 May 18, 2017 Shelton, IV et al.
20170135697 May 18, 2017 Mozdzierz et al.
20170150983 June 1, 2017 Ingmanson et al.
20170172672 June 22, 2017 Bailey et al.
20170182211 June 29, 2017 Raxworthy et al.
20170189018 July 6, 2017 Harris et al.
20170189019 July 6, 2017 Harris et al.
20170189020 July 6, 2017 Harris et al.
20170196558 July 13, 2017 Morgan et al.
20170196560 July 13, 2017 Leimbach et al.
20170196561 July 13, 2017 Shelton, IV et al.
20170196562 July 13, 2017 Shelton, IV et al.
20170196637 July 13, 2017 Shelton, IV et al.
20170196649 July 13, 2017 Yates et al.
20170202596 July 20, 2017 Shelton, IV et al.
20170209145 July 27, 2017 Swayze et al.
20170209146 July 27, 2017 Yates et al.
20170209226 July 27, 2017 Overmyer et al.
20170215881 August 3, 2017 Shelton, IV et al.
20170224330 August 10, 2017 Worthington et al.
20170224331 August 10, 2017 Worthington et al.
20170224332 August 10, 2017 Hunter et al.
20170224333 August 10, 2017 Hunter et al.
20170224334 August 10, 2017 Worthington et al.
20170224335 August 10, 2017 Weaner et al.
20170224336 August 10, 2017 Hunter et al.
20170224339 August 10, 2017 Huang et al.
20170224342 August 10, 2017 Worthington et al.
20170224343 August 10, 2017 Baxter, III et al.
20170231623 August 17, 2017 Shelton, IV et al.
20170231626 August 17, 2017 Shelton, IV et al.
20170231627 August 17, 2017 Shelton, IV et al.
20170231628 August 17, 2017 Shelton, IV et al.
20170238928 August 24, 2017 Morgan et al.
20170238929 August 24, 2017 Yates et al.
20170245952 August 31, 2017 Shelton, IV et al.
20170245953 August 31, 2017 Shelton, IV et al.
20170249431 August 31, 2017 Shelton, IV et al.
20170258469 September 14, 2017 Shelton, IV et al.
20170265856 September 21, 2017 Shelton, IV et al.
20170281155 October 5, 2017 Shelton, IV et al.
20170281161 October 5, 2017 Shelton, IV et al.
20170281162 October 5, 2017 Shelton, IV et al.
20170281163 October 5, 2017 Shelton, IV et al.
20170281164 October 5, 2017 Harris et al.
20170281165 October 5, 2017 Harris et al.
20170281166 October 5, 2017 Morgan et al.
20170281167 October 5, 2017 Shelton, IV et al.
20170281168 October 5, 2017 Shelton, IV et al.
20170281169 October 5, 2017 Harris et al.
20170281170 October 5, 2017 Shelton, IV et al.
20170281171 October 5, 2017 Shelton, IV et al.
20170281172 October 5, 2017 Shelton, IV et al.
20170281173 October 5, 2017 Shelton, IV et al.
20170281174 October 5, 2017 Harris et al.
20170281177 October 5, 2017 Harris et al.
20170281178 October 5, 2017 Shelton, IV et al.
20170281179 October 5, 2017 Shelton, IV et al.
20170281180 October 5, 2017 Morgan et al.
20170281183 October 5, 2017 Miller et al.
20170281184 October 5, 2017 Shelton, IV et al.
20170281185 October 5, 2017 Miller et al.
20170281186 October 5, 2017 Shelton, IV et al.
20170281187 October 5, 2017 Shelton, IV et al.
20170281188 October 5, 2017 Shelton, IV et al.
20170281189 October 5, 2017 Nalagatla et al.
20170290585 October 12, 2017 Shelton, IV et al.
20170296169 October 19, 2017 Yates et al.
20170296170 October 19, 2017 Shelton, IV et al.
20170296171 October 19, 2017 Shelton, IV et al.
20170296172 October 19, 2017 Harris et al.
20170296173 October 19, 2017 Shelton, IV et al.
20170296177 October 19, 2017 Harris et al.
20170296178 October 19, 2017 Miller et al.
20170296179 October 19, 2017 Shelton, IV et al.
20170296180 October 19, 2017 Harris et al.
20170296183 October 19, 2017 Shelton, IV et al.
20170296184 October 19, 2017 Harris et al.
20170296185 October 19, 2017 Swensgard et al.
20170296189 October 19, 2017 Vendely et al.
20170296190 October 19, 2017 Aronhalt et al.
20170296191 October 19, 2017 Shelton, IV et al.
20170296213 October 19, 2017 Swensgard et al.
20170311944 November 2, 2017 Morgan et al.
20170311949 November 2, 2017 Shelton, IV
20170311950 November 2, 2017 Shelton, IV et al.
20170312040 November 2, 2017 Giordano et al.
20170312041 November 2, 2017 Giordano et al.
20170312042 November 2, 2017 Giordano et al.
20170319201 November 9, 2017 Morgan et al.
20170319207 November 9, 2017 Shelton, IV et al.
20170319209 November 9, 2017 Morgan et al.
20170319777 November 9, 2017 Shelton, IV et al.
20170325813 November 16, 2017 Aranyi et al.
20170333034 November 23, 2017 Morgan et al.
20170333035 November 23, 2017 Morgan et al.
20170333070 November 23, 2017 Laurent et al.
20170348043 December 7, 2017 Wang et al.
20170354415 December 14, 2017 Casasanta, Jr. et al.
20170360441 December 21, 2017 Sgroi
20170360442 December 21, 2017 Shelton, IV et al.
20170367700 December 28, 2017 Leimbach et al.
20170367991 December 28, 2017 Widenhouse et al.
20180000483 January 4, 2018 Leimbach et al.
20180000545 January 4, 2018 Giordano et al.
20180008269 January 11, 2018 Moore et al.
20180008270 January 11, 2018 Moore et al.
20180008271 January 11, 2018 Moore et al.
20180008356 January 11, 2018 Giordano et al.
20180008357 January 11, 2018 Giordano et al.
20180028184 February 1, 2018 Shelton, IV et al.
20180028185 February 1, 2018 Shelton, IV et al.
20180042611 February 15, 2018 Swayze et al.
20180049824 February 22, 2018 Harris et al.
20180049883 February 22, 2018 Moskowitz et al.
20180055510 March 1, 2018 Schmid et al.
20180055513 March 1, 2018 Shelton, IV et al.
20180055524 March 1, 2018 Shelton, IV et al.
20180055525 March 1, 2018 Shelton, IV et al.
20180055526 March 1, 2018 Shelton, IV et al.
20180064437 March 8, 2018 Yates et al.
20180064440 March 8, 2018 Shelton, IV et al.
20180064441 March 8, 2018 Shelton, IV et al.
20180064442 March 8, 2018 Shelton, IV et al.
20180064443 March 8, 2018 Shelton, IV et al.
20180070939 March 15, 2018 Giordano et al.
20180070942 March 15, 2018 Shelton, IV et al.
20180070946 March 15, 2018 Shelton, IV et al.
20180078248 March 22, 2018 Swayze et al.
20180085116 March 29, 2018 Yates et al.
20180085117 March 29, 2018 Shelton, IV et al.
20180085123 March 29, 2018 Shelton, IV et al.
20180103952 April 19, 2018 Aronhalt et al.
20180103953 April 19, 2018 Shelton, IV et al.
20180103955 April 19, 2018 Shelton, IV et al.
20180110516 April 26, 2018 Baxter, III et al.
20180110518 April 26, 2018 Overmyer et al.
20180110519 April 26, 2018 Lytle, IV et al.
20180110520 April 26, 2018 Shelton, IV et al.
20180110521 April 26, 2018 Shelton, IV et al.
20180110522 April 26, 2018 Shelton, IV et al.
20180110523 April 26, 2018 Shelton, IV
20180110574 April 26, 2018 Shelton, IV et al.
20180110575 April 26, 2018 Shelton, IV et al.
20180116658 May 3, 2018 Aronhalt, IV et al.
20180116662 May 3, 2018 Shelton, IV et al.
20180116665 May 3, 2018 Hall et al.
20180125481 May 10, 2018 Yates et al.
20180125488 May 10, 2018 Morgan et al.
20180125489 May 10, 2018 Leimbach et al.
20180125590 May 10, 2018 Giordano et al.
20180126504 May 10, 2018 Shelton, IV et al.
20180132845 May 17, 2018 Schmid et al.
20180132850 May 17, 2018 Leimbach et al.
20180132851 May 17, 2018 Hall et al.
20180132952 May 17, 2018 Spivey et al.
20180133856 May 17, 2018 Shelton, IV et al.
20180140299 May 24, 2018 Weaner et al.
20180140368 May 24, 2018 Shelton, IV et al.
20180146960 May 31, 2018 Shelton, IV et al.
20180153542 June 7, 2018 Shelton, IV et al.
20180161034 June 14, 2018 Scheib et al.
20180168575 June 21, 2018 Simms et al.
20180168576 June 21, 2018 Hunter et al.
20180168577 June 21, 2018 Aronhalt et al.
20180168578 June 21, 2018 Aronhalt et al.
20180168579 June 21, 2018 Aronhalt et al.
20180168580 June 21, 2018 Hunter et al.
20180168581 June 21, 2018 Hunter et al.
20180168582 June 21, 2018 Swayze et al.
20180168583 June 21, 2018 Hunter et al.
20180168584 June 21, 2018 Harris et al.
20180168589 June 21, 2018 Swayze et al.
20180168590 June 21, 2018 Overmyer et al.
20180168591 June 21, 2018 Swayze et al.
20180168592 June 21, 2018 Overmyer et al.
20180168593 June 21, 2018 Overmyer et al.
20180168594 June 21, 2018 Shelton, IV et al.
20180168595 June 21, 2018 Overmyer et al.
20180168596 June 21, 2018 Beckman et al.
20180168597 June 21, 2018 Fanelli et al.
20180168598 June 21, 2018 Shelton, IV et al.
20180168599 June 21, 2018 Bakos et al.
20180168600 June 21, 2018 Shelton, IV et al.
20180168601 June 21, 2018 Bakos et al.
20180168602 June 21, 2018 Bakos et al.
20180168603 June 21, 2018 Morgan et al.
20180168604 June 21, 2018 Shelton, IV et al.
20180168605 June 21, 2018 Baber et al.
20180168606 June 21, 2018 Shelton, IV et al.
20180168607 June 21, 2018 Shelton, IV et al.
20180168608 June 21, 2018 Shelton, IV et al.
20180168609 June 21, 2018 Fanelli et al.
20180168610 June 21, 2018 Shelton, IV et al.
20180168611 June 21, 2018 Shelton, IV et al.
20180168612 June 21, 2018 Shelton, IV et al.
20180168613 June 21, 2018 Shelton, IV et al.
20180168614 June 21, 2018 Shelton, IV et al.
20180168615 June 21, 2018 Shelton, IV et al.
20180168618 June 21, 2018 Scott et al.
20180168619 June 21, 2018 Scott et al.
20180168620 June 21, 2018 Huang et al.
20180168621 June 21, 2018 Shelton, IV et al.
20180168622 June 21, 2018 Shelton, IV et al.
20180168623 June 21, 2018 Simms et al.
20180168624 June 21, 2018 Shelton, IV et al.
20180168625 June 21, 2018 Posada et al.
20180168626 June 21, 2018 Shelton, IV et al.
20180168627 June 21, 2018 Weaner et al.
20180168628 June 21, 2018 Hunter et al.
20180168629 June 21, 2018 Shelton, IV et al.
20180168630 June 21, 2018 Shelton, IV et al.
20180168631 June 21, 2018 Harris et al.
20180168632 June 21, 2018 Harris et al.
20180168633 June 21, 2018 Shelton, IV et al.
20180168634 June 21, 2018 Harris et al.
20180168635 June 21, 2018 Shelton, IV et al.
20180168636 June 21, 2018 Shelton, IV et al.
20180168637 June 21, 2018 Harris et al.
20180168638 June 21, 2018 Harris et al.
20180168639 June 21, 2018 Shelton, IV et al.
20180168640 June 21, 2018 Shelton, IV et al.
20180168641 June 21, 2018 Harris et al.
20180168642 June 21, 2018 Shelton, IV et al.
20180168644 June 21, 2018 Shelton, IV et al.
20180168645 June 21, 2018 Shelton, IV et al.
20180168646 June 21, 2018 Shelton, IV et al.
20180168649 June 21, 2018 Shelton, IV et al.
20180168651 June 21, 2018 Shelton, IV et al.
20180199940 July 19, 2018 Zergiebel et al.
20180206843 July 26, 2018 Yates et al.
20180206906 July 26, 2018 Moua et al.
20180214147 August 2, 2018 Merchant et al.
20180221046 August 9, 2018 Demmy et al.
20180221050 August 9, 2018 Kostrzewski et al.
20180228490 August 16, 2018 Richard et al.
20180250001 September 6, 2018 Aronhalt et al.
20180256184 September 13, 2018 Shelton, IV et al.
20180256185 September 13, 2018 Shelton, IV et al.
20180271520 September 27, 2018 Shelton, IV et al.
20180280020 October 4, 2018 Hess et al.
20180280021 October 4, 2018 Timm et al.
20180280022 October 4, 2018 Timm et al.
20180280023 October 4, 2018 Timm et al.
20180286274 October 4, 2018 Kamiguchi et al.
20180289369 October 11, 2018 Shelton, IV et al.
20180296211 October 18, 2018 Timm et al.
20180296215 October 18, 2018 Baxter, III et al.
20180296216 October 18, 2018 Shelton, IV et al.
20180296217 October 18, 2018 Moore et al.
20180303478 October 25, 2018 Yates et al.
20180303481 October 25, 2018 Shelton, IV et al.
20180303482 October 25, 2018 Shelton, IV et al.
20180310931 November 1, 2018 Hall et al.
20180311002 November 1, 2018 Giordano et al.
20180317917 November 8, 2018 Huang et al.
20180317918 November 8, 2018 Shelton, IV
20180317919 November 8, 2018 Shelton, IV et al.
20180333155 November 22, 2018 Hall et al.
20180333169 November 22, 2018 Leimbach et al.
20180344319 December 6, 2018 Shelton, IV et al.
20180353170 December 13, 2018 Overmyer et al.
20180353176 December 13, 2018 Shelton, IV et al.
20180353177 December 13, 2018 Shelton, IV et al.
20180353178 December 13, 2018 Shelton, IV et al.
20180353179 December 13, 2018 Shelton, IV et al.
20180360443 December 20, 2018 Shelton, IV et al.
20180360444 December 20, 2018 Harris et al.
20180360445 December 20, 2018 Shelton, IV et al.
20180360446 December 20, 2018 Shelton, IV et al.
20180360447 December 20, 2018 Shelton, IV et al.
20180360448 December 20, 2018 Harris et al.
20180360449 December 20, 2018 Shelton, IV et al.
20180360450 December 20, 2018 Shelton, IV et al.
20180360451 December 20, 2018 Shelton, IV et al.
20180360452 December 20, 2018 Shelton, IV et al.
20180360454 December 20, 2018 Shelton, IV et al.
20180360455 December 20, 2018 Shelton, IV et al.
20180360456 December 20, 2018 Shelton, IV et al.
20180360469 December 20, 2018 Shelton, IV et al.
20180360470 December 20, 2018 Parfett et al.
20180360471 December 20, 2018 Parfett et al.
20180360472 December 20, 2018 Harris et al.
20180360473 December 20, 2018 Shelton, IV et al.
20180368833 December 27, 2018 Shelton, IV et al.
20180368837 December 27, 2018 Morgan et al.
20180368838 December 27, 2018 Shelton, IV et al.
20180368839 December 27, 2018 Shelton, IV et al.
20180368840 December 27, 2018 Shelton, IV et al.
20180368841 December 27, 2018 Shelton, IV et al.
20180368842 December 27, 2018 Shelton, IV et al.
20180368843 December 27, 2018 Shelton, IV et al.
20180368844 December 27, 2018 Bakos et al.
20180368845 December 27, 2018 Bakos et al.
20180368846 December 27, 2018 Shelton, IV et al.
20180368847 December 27, 2018 Shelton, IV et al.
20190000446 January 3, 2019 Shelton, IV et al.
20190000447 January 3, 2019 Shelton, IV et al.
20190000448 January 3, 2019 Shelton, IV et al.
20190000450 January 3, 2019 Shelton, IV et al.
20190000454 January 3, 2019 Swayze et al.
20190000456 January 3, 2019 Shelton, IV et al.
20190000457 January 3, 2019 Shelton, IV et al.
20190000458 January 3, 2019 Shelton, IV et al.
20190000459 January 3, 2019 Shelton, IV et al.
20190000460 January 3, 2019 Shelton, IV et al.
20190000461 January 3, 2019 Shelton, IV et al.
20190000462 January 3, 2019 Shelton, IV et al.
20190000463 January 3, 2019 Shelton, IV et al.
20190000464 January 3, 2019 Shelton, IV et al.
20190000465 January 3, 2019 Shelton, IV et al.
20190000466 January 3, 2019 Shelton, IV et al.
20190000467 January 3, 2019 Shelton, IV et al.
20190000469 January 3, 2019 Shelton, IV et al.
20190000470 January 3, 2019 Yates et al.
20190000471 January 3, 2019 Shelton, IV et al.
20190000472 January 3, 2019 Shelton, IV et al.
20190000473 January 3, 2019 Shelton, IV et al.
20190000474 January 3, 2019 Shelton, IV et al.
20190000475 January 3, 2019 Shelton, IV et al.
20190000476 January 3, 2019 Shelton, IV et al.
20190000477 January 3, 2019 Shelton, IV et al.
20190000528 January 3, 2019 Yates et al.
20190000530 January 3, 2019 Yates et al.
20190000565 January 3, 2019 Shelton, IV et al.
20190000577 January 3, 2019 Shelton, IV et al.
20190006806 January 3, 2019 Adams et al.
20190008509 January 10, 2019 Shelton, IV et al.
20190008511 January 10, 2019 Kerr et al.
Foreign Patent Documents
2008207624 March 2009 AU
2010214687 September 2010 AU
2011218702 June 2013 AU
2012200178 July 2013 AU
1015829 August 1977 CA
1125615 June 1982 CA
2458946 March 2003 CA
2477181 April 2004 CA
2512960 January 2006 CA
2514274 January 2006 CA
2639177 February 2009 CA
2664874 November 2009 CA
2576347 August 2015 CA
2940510 August 2015 CA
86100996 September 1986 CN
1163558 October 1997 CN
2488482 May 2002 CN
1424891 June 2003 CN
1523725 August 2004 CN
1545154 November 2004 CN
1634601 July 2005 CN
1636525 July 2005 CN
1636526 July 2005 CN
2716900 August 2005 CN
2738962 November 2005 CN
1726874 February 2006 CN
1726878 February 2006 CN
1868411 November 2006 CN
1915180 February 2007 CN
2868212 February 2007 CN
1960679 May 2007 CN
101011286 August 2007 CN
200942099 September 2007 CN
200991269 December 2007 CN
101095621 January 2008 CN
101111196 January 2008 CN
201001747 January 2008 CN
101137402 March 2008 CN
101143105 March 2008 CN
201029899 March 2008 CN
101224122 July 2008 CN
101224124 July 2008 CN
101254126 September 2008 CN
101507620 August 2009 CN
101507622 August 2009 CN
101507623 August 2009 CN
101507625 August 2009 CN
101507628 August 2009 CN
101522120 September 2009 CN
101534724 September 2009 CN
101626731 January 2010 CN
101669833 March 2010 CN
101675898 March 2010 CN
101683280 March 2010 CN
101721236 June 2010 CN
101801284 August 2010 CN
101828940 September 2010 CN
101868203 October 2010 CN
101873834 October 2010 CN
101073509 December 2010 CN
101912285 December 2010 CN
101028205 January 2011 CN
101933824 January 2011 CN
101934098 January 2011 CN
201719298 January 2011 CN
102038531 May 2011 CN
102038532 May 2011 CN
101534722 June 2011 CN
201879759 June 2011 CN
101361666 August 2011 CN
201949071 August 2011 CN
101224119 September 2011 CN
101336835 September 2011 CN
102188270 September 2011 CN
101779977 December 2011 CN
101534723 January 2012 CN
101310680 April 2012 CN
101912284 July 2012 CN
202397539 August 2012 CN
202426586 September 2012 CN
101317782 October 2012 CN
202489990 October 2012 CN
101507639 November 2012 CN
101541251 November 2012 CN
102835977 December 2012 CN
101507633 February 2013 CN
101023879 March 2013 CN
101507624 March 2013 CN
101327137 June 2013 CN
101401736 June 2013 CN
101332110 July 2013 CN
101683281 January 2014 CN
103648408 March 2014 CN
203564285 April 2014 CN
203564287 April 2014 CN
203597997 May 2014 CN
103829983 June 2014 CN
103908313 July 2014 CN
203736251 July 2014 CN
103981635 August 2014 CN
102783741 October 2014 CN
102973300 October 2014 CN
102793571 December 2014 CN
104337556 February 2015 CN
102166129 March 2015 CN
102469995 March 2015 CN
102113902 April 2015 CN
102247177 February 2016 CN
103750872 May 2016 CN
273689 May 1914 DE
1775926 January 1972 DE
3036217 April 1982 DE
3212828 November 1982 DE
3210466 September 1983 DE
3709067 September 1988 DE
4228909 March 1994 DE
9412228 September 1994 DE
19509116 September 1996 DE
19534043 March 1997 DE
19707373 February 1998 DE
19851291 January 2000 DE
19924311 November 2000 DE
69328576 January 2001 DE
20016423 February 2001 DE
19941859 March 2001 DE
10052679 May 2001 DE
20112837 October 2001 DE
20121753 April 2003 DE
10314827 April 2004 DE
202004012389 September 2004 DE
10314072 October 2004 DE
202007003114 June 2007 DE
102010013150 September 2011 DE
0000756 February 1979 EP
0033633 August 1981 EP
0122046 October 1984 EP
0070230 April 1985 EP
0156774 October 1985 EP
0072754 April 1986 EP
0033548 May 1986 EP
0077262 August 1986 EP
0189807 August 1986 EP
0212278 March 1987 EP
0129442 November 1987 EP
0255631 February 1988 EP
0276104 July 1988 EP
0178940 January 1991 EP
0178941 January 1991 EP
0169044 June 1991 EP
0248844 January 1993 EP
0539762 May 1993 EP
0541950 May 1993 EP
0545029 June 1993 EP
0548998 June 1993 EP
0379721 September 1993 EP
0277959 October 1993 EP
0233940 November 1993 EP
0261230 November 1993 EP
0324636 March 1994 EP
0591946 April 1994 EP
0593920 April 1994 EP
0594148 April 1994 EP
0427949 June 1994 EP
0523174 June 1994 EP
0600182 June 1994 EP
0310431 November 1994 EP
0375302 November 1994 EP
0376562 November 1994 EP
0623311 November 1994 EP
0630612 December 1994 EP
0630614 December 1994 EP
0634144 January 1995 EP
0639349 February 1995 EP
0646356 April 1995 EP
0646357 April 1995 EP
0505036 May 1995 EP
0653189 May 1995 EP
0669104 August 1995 EP
0387980 October 1995 EP
0511470 October 1995 EP
0674876 October 1995 EP
0676173 October 1995 EP
0679367 November 1995 EP
0392547 December 1995 EP
0685204 December 1995 EP
0686374 December 1995 EP
0364216 January 1996 EP
0699418 March 1996 EP
0702937 March 1996 EP
0488768 April 1996 EP
0705571 April 1996 EP
0528478 May 1996 EP
0711611 May 1996 EP
0541987 July 1996 EP
0667119 July 1996 EP
0737446 October 1996 EP
0741996 November 1996 EP
0748614 December 1996 EP
0708618 March 1997 EP
0770355 May 1997 EP
0503662 June 1997 EP
0447121 July 1997 EP
0621009 July 1997 EP
0625077 July 1997 EP
0633749 August 1997 EP
0710090 August 1997 EP
0578425 September 1997 EP
0623312 September 1997 EP
0621006 October 1997 EP
0625335 November 1997 EP
0552423 January 1998 EP
0592244 January 1998 EP
0648476 January 1998 EP
0649290 March 1998 EP
0598618 September 1998 EP
0678007 September 1998 EP
0869104 October 1998 EP
0603472 November 1998 EP
0605351 November 1998 EP
0878169 November 1998 EP
0879742 November 1998 EP
0695144 December 1998 EP
0722296 December 1998 EP
0760230 February 1999 EP
0623316 March 1999 EP
0650701 March 1999 EP
0537572 June 1999 EP
0923907 June 1999 EP
0640317 September 1999 EP
0843906 March 2000 EP
0552050 May 2000 EP
0833592 May 2000 EP
0832605 June 2000 EP
0484677 July 2000 EP
0830094 September 2000 EP
1034747 September 2000 EP
1034748 September 2000 EP
0726632 October 2000 EP
0694290 November 2000 EP
1050278 November 2000 EP
1053719 November 2000 EP
1053720 November 2000 EP
1055399 November 2000 EP
1055400 November 2000 EP
1058177 December 2000 EP
1080694 March 2001 EP
1090592 April 2001 EP
1095627 May 2001 EP
0806914 September 2001 EP
0768840 December 2001 EP
0908152 January 2002 EP
0717959 February 2002 EP
0872213 May 2002 EP
0862386 June 2002 EP
1234587 August 2002 EP
0949886 September 2002 EP
1238634 September 2002 EP
0858295 December 2002 EP
0656188 January 2003 EP
0717960 February 2003 EP
1284120 February 2003 EP
1287788 March 2003 EP
0717966 April 2003 EP
0717967 May 2003 EP
0869742 May 2003 EP
0829235 June 2003 EP
0887046 July 2003 EP
1323384 July 2003 EP
0852480 August 2003 EP
0891154 September 2003 EP
0813843 October 2003 EP
0873089 October 2003 EP
0856326 November 2003 EP
1374788 January 2004 EP
0814712 February 2004 EP
1402837 March 2004 EP
0705570 April 2004 EP
0959784 April 2004 EP
1407719 April 2004 EP
1411626 April 2004 EP
1086713 May 2004 EP
0996378 June 2004 EP
1426012 June 2004 EP
0833593 July 2004 EP
1442694 August 2004 EP
0888749 September 2004 EP
0959786 September 2004 EP
1453432 September 2004 EP
1459695 September 2004 EP
1254636 October 2004 EP
1473819 November 2004 EP
1477119 November 2004 EP
1479345 November 2004 EP
1479347 November 2004 EP
1479348 November 2004 EP
0754437 December 2004 EP
1025807 December 2004 EP
1001710 January 2005 EP
1496805 January 2005 EP
1256318 February 2005 EP
1520521 April 2005 EP
1520522 April 2005 EP
1520523 April 2005 EP
1520525 April 2005 EP
1522264 April 2005 EP
1523942 April 2005 EP
1550408 July 2005 EP
1557129 July 2005 EP
1064883 August 2005 EP
1067876 August 2005 EP
0870473 September 2005 EP
1157666 September 2005 EP
0880338 October 2005 EP
1158917 November 2005 EP
1344498 November 2005 EP
0906764 December 2005 EP
1330989 December 2005 EP
0771176 January 2006 EP
1621138 February 2006 EP
1621139 February 2006 EP
1621141 February 2006 EP
1621143 February 2006 EP
1621145 February 2006 EP
1621151 February 2006 EP
1034746 March 2006 EP
1201196 March 2006 EP
1632191 March 2006 EP
1647231 April 2006 EP
1065981 May 2006 EP
1082944 May 2006 EP
1230899 May 2006 EP
1652481 May 2006 EP
1382303 June 2006 EP
1253866 July 2006 EP
1676539 July 2006 EP
1032318 August 2006 EP
1045672 August 2006 EP
1617768 August 2006 EP
1693015 August 2006 EP
1400214 September 2006 EP
1702567 September 2006 EP
1129665 November 2006 EP
1400206 November 2006 EP
1721568 November 2006 EP
1723914 November 2006 EP
1256317 December 2006 EP
1285633 December 2006 EP
1728473 December 2006 EP
1736105 December 2006 EP
1011494 January 2007 EP
1479346 January 2007 EP
1484024 January 2007 EP
1749485 February 2007 EP
1754445 February 2007 EP
1759812 March 2007 EP
1767157 March 2007 EP
1767163 March 2007 EP
1563792 April 2007 EP
1769756 April 2007 EP
1769758 April 2007 EP
1581128 May 2007 EP
1780825 May 2007 EP
1785097 May 2007 EP
1790293 May 2007 EP
1790294 May 2007 EP
1563793 June 2007 EP
1791473 June 2007 EP
1800610 June 2007 EP
1300117 August 2007 EP
1813199 August 2007 EP
1813200 August 2007 EP
1813201 August 2007 EP
1813202 August 2007 EP
1813203 August 2007 EP
1813207 August 2007 EP
1813209 August 2007 EP
1815950 August 2007 EP
1330991 September 2007 EP
1837041 September 2007 EP
0922435 October 2007 EP
1487359 October 2007 EP
1599146 October 2007 EP
1839596 October 2007 EP
1679096 November 2007 EP
1857057 November 2007 EP
1402821 December 2007 EP
1872727 January 2008 EP
1550410 February 2008 EP
1671593 February 2008 EP
1897502 March 2008 EP
1611856 April 2008 EP
1908417 April 2008 EP
1917929 May 2008 EP
1330201 June 2008 EP
1702568 July 2008 EP
1943955 July 2008 EP
1943957 July 2008 EP
1943959 July 2008 EP
1943962 July 2008 EP
1943964 July 2008 EP
1943976 July 2008 EP
1593337 August 2008 EP
1970014 September 2008 EP
1974678 October 2008 EP
1980213 October 2008 EP
1980214 October 2008 EP
1759645 November 2008 EP
1987780 November 2008 EP
1990014 November 2008 EP
1992296 November 2008 EP
1552795 December 2008 EP
1693008 December 2008 EP
1759640 December 2008 EP
1997439 December 2008 EP
2000101 December 2008 EP
2000102 December 2008 EP
2005894 December 2008 EP
2005897 December 2008 EP
2005901 December 2008 EP
2008595 December 2008 EP
2025293 February 2009 EP
1736104 March 2009 EP
1749486 March 2009 EP
1782743 March 2009 EP
2039302 March 2009 EP
2039308 March 2009 EP
2039316 March 2009 EP
1721576 April 2009 EP
1733686 April 2009 EP
2044890 April 2009 EP
2055243 May 2009 EP
1550409 June 2009 EP
1550413 June 2009 EP
1719461 June 2009 EP
1834594 June 2009 EP
1709911 July 2009 EP
2077093 July 2009 EP
1745748 August 2009 EP
2090231 August 2009 EP
2090237 August 2009 EP
2090241 August 2009 EP
2090245 August 2009 EP
2090254 August 2009 EP
2090256 August 2009 EP
2095777 September 2009 EP
2098170 September 2009 EP
2100562 September 2009 EP
2110082 October 2009 EP
2110083 October 2009 EP
2110084 October 2009 EP
2111803 October 2009 EP
1813208 November 2009 EP
1908426 November 2009 EP
2116195 November 2009 EP
2116196 November 2009 EP
2116197 November 2009 EP
1607050 December 2009 EP
1762190 December 2009 EP
1815804 December 2009 EP
1875870 December 2009 EP
1878395 January 2010 EP
2151204 February 2010 EP
1813211 March 2010 EP
2165654 March 2010 EP
2165656 March 2010 EP
2165660 March 2010 EP
2165663 March 2010 EP
2165664 March 2010 EP
1566150 April 2010 EP
1813206 April 2010 EP
2184014 May 2010 EP
1769754 June 2010 EP
1854416 June 2010 EP
1911408 June 2010 EP
2198787 June 2010 EP
2214610 August 2010 EP
2218409 August 2010 EP
1647286 September 2010 EP
1825821 September 2010 EP
1535565 October 2010 EP
1702570 October 2010 EP
1785098 October 2010 EP
2005896 October 2010 EP
2030578 November 2010 EP
2036505 November 2010 EP
2245993 November 2010 EP
2245994 November 2010 EP
2253280 November 2010 EP
1627605 December 2010 EP
2027811 December 2010 EP
2130498 December 2010 EP
2258282 December 2010 EP
2263568 December 2010 EP
1994890 January 2011 EP
2005900 January 2011 EP
2277667 January 2011 EP
2283780 February 2011 EP
2286738 February 2011 EP
1494595 March 2011 EP
1690502 March 2011 EP
1884201 March 2011 EP
2292153 March 2011 EP
1769755 April 2011 EP
2090240 April 2011 EP
2305135 April 2011 EP
2308388 April 2011 EP
2314254 April 2011 EP
2316345 May 2011 EP
2316366 May 2011 EP
2319443 May 2011 EP
2324776 May 2011 EP
1813205 June 2011 EP
2042107 June 2011 EP
2090243 June 2011 EP
2329773 June 2011 EP
2090239 July 2011 EP
2340771 July 2011 EP
1728475 August 2011 EP
2353545 August 2011 EP
2361562 August 2011 EP
2377472 October 2011 EP
1836986 November 2011 EP
1908414 November 2011 EP
2153781 November 2011 EP
2387943 November 2011 EP
2389928 November 2011 EP
1847225 December 2011 EP
2397079 December 2011 EP
2399538 December 2011 EP
1785102 January 2012 EP
1316290 February 2012 EP
1962711 February 2012 EP
2415416 February 2012 EP
2090253 March 2012 EP
2430986 March 2012 EP
1347638 May 2012 EP
1943956 May 2012 EP
2446834 May 2012 EP
2455007 May 2012 EP
2457519 May 2012 EP
2462878 June 2012 EP
2462880 June 2012 EP
1813204 July 2012 EP
2189121 July 2012 EP
2248475 July 2012 EP
2478845 July 2012 EP
2005895 August 2012 EP
2090248 August 2012 EP
2481359 August 2012 EP
2484304 August 2012 EP
2486860 August 2012 EP
2486862 August 2012 EP
2486868 August 2012 EP
1908412 September 2012 EP
1935351 September 2012 EP
2497431 September 2012 EP
1550412 October 2012 EP
1616549 October 2012 EP
2030579 October 2012 EP
2090252 October 2012 EP
2517637 October 2012 EP
2517638 October 2012 EP
2517642 October 2012 EP
2517645 October 2012 EP
2517649 October 2012 EP
2517651 October 2012 EP
2526877 November 2012 EP
2526883 November 2012 EP
1884206 March 2013 EP
2286735 March 2013 EP
2090238 April 2013 EP
1806103 May 2013 EP
2586380 May 2013 EP
2586383 May 2013 EP
2606812 June 2013 EP
2606834 June 2013 EP
1982657 July 2013 EP
2614782 July 2013 EP
2617369 July 2013 EP
2620117 July 2013 EP
2090234 September 2013 EP
2633830 September 2013 EP
2090244 October 2013 EP
2644124 October 2013 EP
2644209 October 2013 EP
2649948 October 2013 EP
2649949 October 2013 EP
1997438 November 2013 EP
2684529 January 2014 EP
2687164 January 2014 EP
2700367 February 2014 EP
2713902 April 2014 EP
1772105 May 2014 EP
2743042 June 2014 EP
2759267 July 2014 EP
2764826 August 2014 EP
2764827 August 2014 EP
2767243 August 2014 EP
2772206 September 2014 EP
2772209 September 2014 EP
2777520 September 2014 EP
2777524 September 2014 EP
2777528 September 2014 EP
2777537 September 2014 EP
2777538 September 2014 EP
2786714 October 2014 EP
2792313 October 2014 EP
2803324 November 2014 EP
2815704 December 2014 EP
2446835 January 2015 EP
2842500 March 2015 EP
2845545 March 2015 EP
1943960 April 2015 EP
2090255 April 2015 EP
2853220 April 2015 EP
2923647 September 2015 EP
2923653 September 2015 EP
2923660 September 2015 EP
2932913 October 2015 EP
2944270 November 2015 EP
1774914 December 2015 EP
2090235 April 2016 EP
2823773 April 2016 EP
2131750 May 2016 EP
2298220 June 2016 EP
2510891 June 2016 EP
1915957 August 2016 EP
2296559 August 2016 EP
2586379 August 2016 EP
2777533 October 2016 EP
2364651 November 2016 EP
2747235 November 2016 EP
2116192 March 2017 EP
2789299 May 2017 EP
2311386 June 2017 EP
2839787 June 2017 EP
2745782 October 2017 EP
3363378 August 2018 EP
2396594 February 2013 ES
459743 November 1913 FR
999646 February 1952 FR
1112936 March 1956 FR
2452275 April 1983 FR
2598905 November 1987 FR
2689749 July 1994 FR
2765794 January 1999 FR
2815842 May 2002 FR
939929 October 1963 GB
1210522 October 1970 GB
1217159 December 1970 GB
1339394 December 1973 GB
2024012 January 1980 GB
2109241 June 1983 GB
2090534 June 1984 GB
2272159 May 1994 GB
2284242 May 1995 GB
2286435 August 1995 GB
2336214 October 1999 GB
2425903 November 2006 GB
2426391 November 2006 GB
2423199 May 2009 GB
2509523 July 2014 GB
930100110 November 1993 GR
S4711908 May 1972 JP
S5033988 April 1975 JP
S56112235 September 1981 JP
S58500053 January 1983 JP
S58501360 August 1983 JP
S59174920 October 1984 JP
S60100955 June 1985 JP
S60212152 October 1985 JP
S6198249 May 1986 JP
S61502036 September 1986 JP
S62170011 October 1987 JP
S6359764 March 1988 JP
S63147449 June 1988 JP
S63203149 August 1988 JP
S63270040 November 1988 JP
H0129503 June 1989 JP
H02279149 November 1990 JP
H0312126 January 1991 JP
H0318354 January 1991 JP
H0378514 August 1991 JP
H0385009 August 1991 JP
H04215747 August 1992 JP
H04131860 December 1992 JP
H0584252 April 1993 JP
H05123325 May 1993 JP
H05212039 August 1993 JP
H 05226945 September 1993 JP
H067357 January 1994 JP
H0630945 February 1994 JP
H0654857 March 1994 JP
H0663054 March 1994 JP
H0626812 April 1994 JP
H06121798 May 1994 JP
H06125913 May 1994 JP
H06197901 July 1994 JP
H06237937 August 1994 JP
H06327684 November 1994 JP
H079622 February 1995 JP
H0731623 February 1995 JP
H0747070 February 1995 JP
H0751273 February 1995 JP
H07124166 May 1995 JP
H07163573 June 1995 JP
H07163574 June 1995 JP
H07171163 July 1995 JP
H07255735 October 1995 JP
H07285089 October 1995 JP
H07299074 November 1995 JP
H0833641 February 1996 JP
H0833642 February 1996 JP
H08164141 June 1996 JP
H08173437 July 1996 JP
H08182684 July 1996 JP
H08215201 August 1996 JP
H08507708 August 1996 JP
H08229050 September 1996 JP
H08289895 November 1996 JP
H08336540 December 1996 JP
H08336544 December 1996 JP
H09501081 February 1997 JP
H09501577 February 1997 JP
H09164144 June 1997 JP
H09-323068 December 1997 JP
H10113352 May 1998 JP
H10118090 May 1998 JP
H10-200699 July 1998 JP
H 10296660 November 1998 JP
H10512465 December 1998 JP
H10512469 December 1998 JP
2000014632 January 2000 JP
2000033071 February 2000 JP
2000112002 April 2000 JP
3056672 June 2000 JP
2000166932 June 2000 JP
2000171730 June 2000 JP
2000287987 October 2000 JP
2000325303 November 2000 JP
2001037763 February 2001 JP
2001046384 February 2001 JP
2001087272 April 2001 JP
2001514541 September 2001 JP
2001276091 October 2001 JP
2001286477 October 2001 JP
2001517473 October 2001 JP
2002051974 February 2002 JP
2002054903 February 2002 JP
2002085415 March 2002 JP
2002143078 May 2002 JP
2002204801 July 2002 JP
2002528161 September 2002 JP
2002314298 October 2002 JP
2002369820 December 2002 JP
2002542186 December 2002 JP
2003000603 January 2003 JP
2003500153 January 2003 JP
2003504104 February 2003 JP
2003135473 May 2003 JP
2003148903 May 2003 JP
2003164066 June 2003 JP
2003521301 July 2003 JP
2003521304 July 2003 JP
2003523251 August 2003 JP
2003523254 August 2003 JP
2003524431 August 2003 JP
3442423 September 2003 JP
2003300416 October 2003 JP
2004147701 May 2004 JP
2004162035 June 2004 JP
2004229976 August 2004 JP
2004524076 August 2004 JP
2004531280 October 2004 JP
2004532084 October 2004 JP
2004532676 October 2004 JP
2004-535217 November 2004 JP
2004329624 November 2004 JP
2004337617 December 2004 JP
2004344662 December 2004 JP
2004344663 December 2004 JP
2005013573 January 2005 JP
2005028147 February 2005 JP
2005028148 February 2005 JP
2005028149 February 2005 JP
2005505309 February 2005 JP
2005505322 February 2005 JP
2005505334 February 2005 JP
2005080702 March 2005 JP
2005103280 April 2005 JP
2005103281 April 2005 JP
2005103293 April 2005 JP
2005511131 April 2005 JP
2005511137 April 2005 JP
2005131163 May 2005 JP
2005131164 May 2005 JP
2005131173 May 2005 JP
2005131211 May 2005 JP
2005131212 May 2005 JP
2005137423 June 2005 JP
2005137919 June 2005 JP
2005144183 June 2005 JP
2005152416 June 2005 JP
2005516714 June 2005 JP
2005187954 July 2005 JP
2005521109 July 2005 JP
2005523105 August 2005 JP
2005524474 August 2005 JP
2005296412 October 2005 JP
2005529675 October 2005 JP
2005529677 October 2005 JP
2005328882 December 2005 JP
2005335432 December 2005 JP
2005342267 December 2005 JP
2006034975 February 2006 JP
2006034977 February 2006 JP
2006034978 February 2006 JP
2006034980 February 2006 JP
2006043451 February 2006 JP
2006506106 February 2006 JP
2006510879 March 2006 JP
3791856 June 2006 JP
2006187649 July 2006 JP
2006218228 August 2006 JP
2006218297 August 2006 JP
2006223872 August 2006 JP
2006281405 October 2006 JP
2006289064 October 2006 JP
2006334412 December 2006 JP
2006334417 December 2006 JP
2006346445 December 2006 JP
2007000634 January 2007 JP
2007050253 March 2007 JP
2007061628 March 2007 JP
3906843 April 2007 JP
2007083051 April 2007 JP
2007098130 April 2007 JP
2007105481 April 2007 JP
2007117725 May 2007 JP
2007130471 May 2007 JP
2007130479 May 2007 JP
3934161 June 2007 JP
2007203047 August 2007 JP
2007203049 August 2007 JP
2007203051 August 2007 JP
2007203055 August 2007 JP
2007203057 August 2007 JP
2007524435 August 2007 JP
2007222615 September 2007 JP
2007229448 September 2007 JP
2007526026 September 2007 JP
4001860 October 2007 JP
2007252916 October 2007 JP
2007307373 November 2007 JP
2007325922 December 2007 JP
2008068073 March 2008 JP
2008510515 April 2008 JP
2008516669 May 2008 JP
2008528203 July 2008 JP
2008-220032 September 2008 JP
2008206967 September 2008 JP
2008212637 September 2008 JP
2008212638 September 2008 JP
2008212640 September 2008 JP
2008220956 September 2008 JP
2008237881 October 2008 JP
2008259860 October 2008 JP
2008264535 November 2008 JP
2008283459 November 2008 JP
2008307393 December 2008 JP
2009000531 January 2009 JP
2009006137 January 2009 JP
2009502351 January 2009 JP
2009502352 January 2009 JP
2009022742 February 2009 JP
2009506799 February 2009 JP
2009507526 February 2009 JP
2009072595 April 2009 JP
2009072599 April 2009 JP
2009090113 April 2009 JP
2009106752 May 2009 JP
2009189821 August 2009 JP
2009189823 August 2009 JP
2009189836 August 2009 JP
2009189837 August 2009 JP
2009189838 August 2009 JP
2009189846 August 2009 JP
2009189847 August 2009 JP
2009201998 September 2009 JP
2009207260 September 2009 JP
2009226028 October 2009 JP
2009536082 October 2009 JP
2009261944 November 2009 JP
2009268908 November 2009 JP
2009538684 November 2009 JP
2009539420 November 2009 JP
2009291604 December 2009 JP
2010504808 February 2010 JP
2010504809 February 2010 JP
2010504813 February 2010 JP
2010504846 February 2010 JP
2010505524 February 2010 JP
2010069307 April 2010 JP
2010069310 April 2010 JP
2010075694 April 2010 JP
2010075695 April 2010 JP
2010088876 April 2010 JP
2010094514 April 2010 JP
2010098844 April 2010 JP
4461008 May 2010 JP
2010-520025 June 2010 JP
2010-148879 July 2010 JP
2010142636 July 2010 JP
4549018 September 2010 JP
2010214166 September 2010 JP
2010-240429 October 2010 JP
2010240411 October 2010 JP
2010246948 November 2010 JP
2010-540041 December 2010 JP
2010279690 December 2010 JP
2010540192 December 2010 JP
2011005260 January 2011 JP
2011504391 February 2011 JP
2011509786 March 2011 JP
2011072574 April 2011 JP
2011072797 April 2011 JP
2011078763 April 2011 JP
2011-115594 June 2011 JP
2011-520564 July 2011 JP
4722849 July 2011 JP
4783373 September 2011 JP
2011524199 September 2011 JP
2011251156 December 2011 JP
2012040398 March 2012 JP
2012507356 March 2012 JP
2012517289 August 2012 JP
5140421 February 2013 JP
5154710 February 2013 JP
5162595 March 2013 JP
2013517891 May 2013 JP
2013526342 June 2013 JP
2013128791 July 2013 JP
5333899 November 2013 JP
2014121599 July 2014 JP
2016-512057 April 2016 JP
20100110134 October 2010 KR
20110003229 January 2011 KR
1814161 May 1993 RU
2008830 March 1994 RU
2052979 January 1996 RU
2066128 September 1996 RU
2098025 December 1997 RU
2141279 November 1999 RU
2144791 January 2000 RU
2161450 January 2001 RU
2181566 April 2002 RU
2187249 August 2002 RU
2189091 September 2002 RU
32984 October 2003 RU
2225170 March 2004 RU
42750 December 2004 RU
61114 February 2007 RU
61122 February 2007 RU
2007103563 August 2008 RU
189517 January 1967 SU
297156 May 1971 SU
328636 September 1972 SU
511939 April 1976 SU
674747 July 1979 SU
728848 April 1980 SU
886900 December 1981 SU
1009439 April 1983 SU
1022703 June 1983 SU
1271497 November 1986 SU
1333319 August 1987 SU
1377052 February 1988 SU
1377053 February 1988 SU
1443874 December 1988 SU
1509051 September 1989 SU
1561964 May 1990 SU
1708312 January 1992 SU
1722476 March 1992 SU
1752361 August 1992 SU
1814161 May 1993 SU
WO-8202824 September 1982 WO
WO-8602254 April 1986 WO
WO-9115157 October 1991 WO
WO-9220295 November 1992 WO
WO-9221300 December 1992 WO
WO-9308755 May 1993 WO
WO-9313718 July 1993 WO
WO-9314690 August 1993 WO
WO-9315648 August 1993 WO
WO-9315850 August 1993 WO
WO-9319681 October 1993 WO
WO-9400060 January 1994 WO
WO-9411057 May 1994 WO
WO-94/14129 June 1994 WO
WO-9412108 June 1994 WO
WO-9417737 August 1994 WO
WO-9418893 September 1994 WO
WO-9420030 September 1994 WO
WO-9422378 October 1994 WO
WO-9423659 October 1994 WO
WO-9424943 November 1994 WO
WO-9424947 November 1994 WO
WO-9502369 January 1995 WO
WO-9503743 February 1995 WO
WO-9506817 March 1995 WO
WO-9509576 April 1995 WO
WO-9509577 April 1995 WO
WO-9514436 June 1995 WO
WO-9517855 July 1995 WO
WO-9518383 July 1995 WO
WO-9518572 July 1995 WO
WO-9519739 July 1995 WO
WO-9520360 August 1995 WO
WO-9523557 September 1995 WO
WO-9524865 September 1995 WO
WO-9525471 September 1995 WO
WO-9526562 October 1995 WO
WO-9529639 November 1995 WO
WO-9604858 February 1996 WO
WO-9618344 June 1996 WO
WO-9619151 June 1996 WO
WO-9619152 June 1996 WO
WO-9620652 July 1996 WO
WO-9621119 July 1996 WO
WO-9622055 July 1996 WO
WO-9623448 August 1996 WO
WO-9624301 August 1996 WO
WO-9627337 September 1996 WO
WO-9631155 October 1996 WO
WO-9635464 November 1996 WO
WO-9639085 December 1996 WO
WO-9639086 December 1996 WO
WO-9639087 December 1996 WO
WO-9639088 December 1996 WO
WO-9639089 December 1996 WO
WO-9700646 January 1997 WO
WO-9700647 January 1997 WO
WO-9701989 January 1997 WO
WO-9706582 February 1997 WO
WO-9710763 March 1997 WO
WO-9710764 March 1997 WO
WO-9711648 April 1997 WO
WO-9711649 April 1997 WO
WO-9715237 May 1997 WO
WO-9724073 July 1997 WO
WO-9724993 July 1997 WO
WO-9730644 August 1997 WO
WO-9730659 August 1997 WO
WO-9734533 September 1997 WO
WO-9737598 October 1997 WO
WO-9739688 October 1997 WO
WO-9741767 November 1997 WO
WO-9801080 January 1998 WO
WO-9817180 April 1998 WO
WO-9822154 May 1998 WO
WO-9827880 July 1998 WO
WO-9830153 July 1998 WO
WO-9847436 October 1998 WO
WO-9858589 December 1998 WO
WO-9902090 January 1999 WO
WO-9903407 January 1999 WO
WO-9903408 January 1999 WO
WO-9903409 January 1999 WO
WO-9912483 March 1999 WO
WO-9912487 March 1999 WO
WO-9912488 March 1999 WO
WO-9915086 April 1999 WO
WO-9915091 April 1999 WO
WO-9923933 May 1999 WO
WO-9923959 May 1999 WO
WO-9925261 May 1999 WO
WO-9929244 June 1999 WO
WO-9934744 July 1999 WO
WO-9945849 September 1999 WO
WO-9948430 September 1999 WO
WO-9951158 October 1999 WO
WO-0024322 May 2000 WO
WO-0024330 May 2000 WO
WO-0033755 June 2000 WO
WO-0041638 July 2000 WO
WO-0048506 August 2000 WO
WO-0053112 September 2000 WO
WO-0054653 September 2000 WO
WO-0057796 October 2000 WO
WO-0064365 November 2000 WO
WO-0072762 December 2000 WO
WO-0072765 December 2000 WO
WO-0078222 December 2000 WO
WO-0103587 January 2001 WO
WO-0105702 January 2001 WO
WO-0110482 February 2001 WO
WO-0135845 May 2001 WO
WO-0154594 August 2001 WO
WO-0158371 August 2001 WO
WO-0162158 August 2001 WO
WO-0162161 August 2001 WO
WO-0162162 August 2001 WO
WO-0162163 August 2001 WO
WO-0162164 August 2001 WO
WO-0162169 August 2001 WO
WO-0178605 October 2001 WO
WO-0180757 November 2001 WO
WO-0191646 December 2001 WO
WO-0200121 January 2002 WO
WO-0207608 January 2002 WO
WO-0207618 January 2002 WO
WO-0217799 March 2002 WO
WO-0219920 March 2002 WO
WO-0219932 March 2002 WO
WO-0226143 April 2002 WO
WO-0230297 April 2002 WO
WO-0232322 April 2002 WO
WO-0236028 May 2002 WO
WO-0243571 June 2002 WO
WO-02058568 August 2002 WO
WO-02060328 August 2002 WO
WO-02065933 August 2002 WO
WO-02067785 September 2002 WO
WO-02080781 October 2002 WO
WO-02085218 October 2002 WO
WO-02087586 November 2002 WO
WO-02098302 December 2002 WO
WO-03000138 January 2003 WO
WO-03001329 January 2003 WO
WO-03001986 January 2003 WO
WO-03013363 February 2003 WO
WO-03013372 February 2003 WO
WO-03015604 February 2003 WO
WO-03020106 March 2003 WO
WO-03020139 March 2003 WO
WO-03024339 March 2003 WO
WO-03030743 April 2003 WO
WO-03037193 May 2003 WO
WO-03055402 July 2003 WO
WO-03057048 July 2003 WO
WO-03057058 July 2003 WO
WO-03063694 August 2003 WO
WO-03077769 September 2003 WO
WO-03079911 October 2003 WO
WO-03082126 October 2003 WO
WO-03086206 October 2003 WO
WO-03088845 October 2003 WO
WO-03047436 November 2003 WO
WO-03090630 November 2003 WO
WO-03094743 November 2003 WO
WO-03094745 November 2003 WO
WO-03094746 November 2003 WO
WO-03094747 November 2003 WO
WO-03101313 December 2003 WO
WO-03105698 December 2003 WO
WO-03105702 December 2003 WO
WO-2004004578 January 2004 WO
WO-2004006980 January 2004 WO
WO-2004011037 February 2004 WO
WO-2004014238 February 2004 WO
WO-03079909 March 2004 WO
WO-2004019769 March 2004 WO
WO-2004019803 March 2004 WO
WO-2004021868 March 2004 WO
WO-2004028585 April 2004 WO
WO-2004030554 April 2004 WO
WO-2004032754 April 2004 WO
WO-2004032760 April 2004 WO
WO-2004032762 April 2004 WO
WO-2004032763 April 2004 WO
WO-2004032783 April 2004 WO
WO-2004034875 April 2004 WO
WO-2004047626 June 2004 WO
WO-2004047653 June 2004 WO
WO-2004049956 June 2004 WO
WO-2004050971 June 2004 WO
WO-2004052426 June 2004 WO
WO-2004056276 July 2004 WO
WO-2004056277 July 2004 WO
WO-2004062516 July 2004 WO
WO-2004064600 August 2004 WO
WO-2004078050 September 2004 WO
WO-2004078051 September 2004 WO
WO-2004078236 September 2004 WO
WO-2004086987 October 2004 WO
WO-2004096015 November 2004 WO
WO-2004096057 November 2004 WO
WO-2004103157 December 2004 WO
WO-2004105593 December 2004 WO
WO-2004105621 December 2004 WO
WO-2004112618 December 2004 WO
WO-2004112652 December 2004 WO
WO-2005027983 March 2005 WO
WO-2005037329 April 2005 WO
WO-2005042041 May 2005 WO
WO-2005044078 May 2005 WO
WO-2005048809 June 2005 WO
WO-2005055846 June 2005 WO
WO-2005072634 August 2005 WO
WO-2005078892 August 2005 WO
WO-2005079675 September 2005 WO
WO-2005087128 September 2005 WO
WO-2005096954 October 2005 WO
WO-2005110243 November 2005 WO
WO-2005112806 December 2005 WO
WO-2005112808 December 2005 WO
WO-2005115251 December 2005 WO
WO-2005115253 December 2005 WO
WO-2005117735 December 2005 WO
WO-2005122936 December 2005 WO
WO-2006/026520 March 2006 WO
WO-2006023486 March 2006 WO
WO-2006023578 March 2006 WO
WO-2006027014 March 2006 WO
WO-2006028314 March 2006 WO
WO-2006044490 April 2006 WO
WO-2006044581 April 2006 WO
WO-2006044810 April 2006 WO
WO-2006049852 May 2006 WO
WO-2006050360 May 2006 WO
WO-2006051252 May 2006 WO
WO-2006/057702 June 2006 WO
WO-2006059067 June 2006 WO
WO-2006/073581 July 2006 WO
WO-2006083748 August 2006 WO
WO-2006085389 August 2006 WO
WO-2006092563 September 2006 WO
WO-2006092565 September 2006 WO
WO-2006115958 November 2006 WO
WO-2006125940 November 2006 WO
WO-2006132992 December 2006 WO
WO-2007002180 January 2007 WO
WO-2007014355 February 2007 WO
WO-2007015971 February 2007 WO
WO-2007016290 February 2007 WO
WO-2007018898 February 2007 WO
WO-2007034161 March 2007 WO
WO-2007051000 May 2007 WO
WO-2007059233 May 2007 WO
WO-2007074430 July 2007 WO
WO-2007089603 August 2007 WO
WO-2007098220 August 2007 WO
WO-2007121579 November 2007 WO
WO-2007129121 November 2007 WO
WO-2007131110 November 2007 WO
WO-2007137304 November 2007 WO
WO-2007139734 December 2007 WO
WO-2007142625 December 2007 WO
WO-2007145825 December 2007 WO
WO-2007146987 December 2007 WO
WO-2007147439 December 2007 WO
WO-2008020964 February 2008 WO
WO-2008021687 February 2008 WO
WO-2008021969 February 2008 WO
WO-2008027972 March 2008 WO
WO-2008039237 April 2008 WO
WO-2008039249 April 2008 WO
WO-2008039270 April 2008 WO
WO-2008045383 April 2008 WO
WO-2008/061566 May 2008 WO
WO-2008057281 May 2008 WO
WO-2008070763 June 2008 WO
WO-2008080148 July 2008 WO
WO-2008089404 July 2008 WO
WO-2008101080 August 2008 WO
WO-2008101228 August 2008 WO
WO-2008103797 August 2008 WO
WO-2008109123 September 2008 WO
WO-2008109125 September 2008 WO
WO-2008112912 September 2008 WO
WO-2008118728 October 2008 WO
WO-2008118928 October 2008 WO
WO-2008124748 October 2008 WO
WO-2008131357 October 2008 WO
WO-2009005969 January 2009 WO
WO-2009022614 February 2009 WO
WO-2009023851 February 2009 WO
WO-2009033057 March 2009 WO
WO-2009039506 March 2009 WO
WO-2009046394 April 2009 WO
WO-2009066105 May 2009 WO
WO-2009067649 May 2009 WO
WO-2009091497 July 2009 WO
WO-2009120944 October 2009 WO
WO-2009137761 November 2009 WO
WO-2009143092 November 2009 WO
WO-2009143331 November 2009 WO
WO-2009150650 December 2009 WO
WO-2009152307 December 2009 WO
WO-2010028332 March 2010 WO
WO-2010030434 March 2010 WO
WO-2010045425 April 2010 WO
WO-2010050771 May 2010 WO
WO-2010054404 May 2010 WO
WO-2010056714 May 2010 WO
WO-2010063795 June 2010 WO
WO-2010090940 August 2010 WO
WO-2010093333 August 2010 WO
WO-2010098871 September 2010 WO
WO-2010134913 November 2010 WO
WO-2011008672 January 2011 WO
WO-2011013103 February 2011 WO
WO-2011044343 April 2011 WO
WO-2011056458 May 2011 WO
WO-2011060311 May 2011 WO
WO-2011084969 July 2011 WO
WO-2011127137 October 2011 WO
WO-2012006306 January 2012 WO
WO-2012009431 January 2012 WO
WO-2012/013577 February 2012 WO
WO-2012021671 February 2012 WO
WO-2012040438 March 2012 WO
WO-2012044551 April 2012 WO
WO-2012044554 April 2012 WO
WO-2012044597 April 2012 WO
WO-2012044606 April 2012 WO
WO-2012044820 April 2012 WO
WO-2012044844 April 2012 WO
WO-2012044853 April 2012 WO
WO-2012044854 April 2012 WO
WO-2012058213 May 2012 WO
WO-2012068156 May 2012 WO
WO-2012109760 August 2012 WO
WO-2012127462 September 2012 WO
WO-2012135705 October 2012 WO
WO-2012143913 October 2012 WO
WO-2012148667 November 2012 WO
WO-2012148668 November 2012 WO
WO-2012148703 November 2012 WO
WO-2012160163 November 2012 WO
WO-2012166503 December 2012 WO
WO-2013009252 January 2013 WO
WO-2013009699 January 2013 WO
WO-2013023114 February 2013 WO
WO-2013036409 March 2013 WO
WO-2013043707 March 2013 WO
WO-2013043717 March 2013 WO
WO-2013043721 March 2013 WO
WO-2013062978 May 2013 WO
WO-2013116869 August 2013 WO
WO-2013148762 October 2013 WO
WO-2013151888 October 2013 WO
WO-2013167427 November 2013 WO
WO-2013188130 December 2013 WO
WO-2014/008289 January 2014 WO
WO-2014004199 January 2014 WO
WO-2014004209 January 2014 WO
WO-2014004294 January 2014 WO
WO-2014/113438 July 2014 WO
WO-2014/134034 September 2014 WO
WO-2014/172213 October 2014 WO
WO-2014158882 October 2014 WO
WO-2015/032797 March 2015 WO
WO-2015138760 September 2015 WO
WO-2015/148136 October 2015 WO
WO-2015148141 October 2015 WO
WO-2015153642 October 2015 WO
WO-2015187107 December 2015 WO
Other references
  • Schellhammer et al., “Poly-Lactic-Acid for Coating of Endovascular Stents: Preliminary Results in Canine Experimental Av-Fistulae,” Mat.-wiss. u. Werkstofftech., 32, pp. 193-199 (2001).
  • Miyata et al., “Biomolecule-Sensitive Hydrogels,” Advanced Drug Delivery Reviews, 54 (2002) pp. 79-98.
  • Jeong et al., “Thermosensitive Sol-Gel Reversible Hydrogels,” Advanced Drug Delivery Reviews, 54 (2002) pp. 37-51.
  • Covidien Brochure, “Endo GIA™ Ultra Universal Stapler,” (2010), 2 pages.
  • Qiu et al., “Environment-Sensitive Hydrogels for Drug Delivery,” Advanced Drug Delivery Reviews, 53 (2001) pp. 321-339.
  • Hoffman, “Hydrogels for Biomedical Applications,” Advanced Drug Delivery Reviews, 43 (2002) pp. 3-12.
  • Hoffman, “Hydrogels for Biomedical Applications,” Advanced Drug Delivery Reviews, 54 (2002) pp. 3-12.
  • Peppas, “Physiologically Responsive Hydrogels,” Journal of Bioactive and Compatible Polymers, vol. 6 (Jul. 1991) pp. 241-246.
  • Peppas, Editor “Hydrogels in Medicine and Pharmacy,” vol. I, Fundamentals, CRC Press, 1986.
  • Young, “Microcellular foams via phase separation,” Journal of Vacuum Science & Technology A 4(3), (May/Jun. 1986).
  • Ebara, “Carbohydrate-Derived Hydrogels and Microgels,” Engineered Carbohydrate-Based Materials for Biomedical Applications: Polymers, Surfaes, Dendrimers, Nanoparticles, and Hydrogels, Edited by Ravin Narain, 2011, pp. 337-345.
  • http://ninpgan.net/publications/51-100/89.pdf; 2004, Ning Pan, On Uniqueness of Fibrous Materials, Design & Nature II. Eds: Colins, M. and Brebbia, C. WIT Press, Boston, 493-504.
  • D. Tuite, Ed., “Get the Lowdown on Ultracapacitors,” Nov. 15, 2007; [online] URL: http://electronicdesign.com/Articles/Print.cfm?ArticleID=17465, accessed Jan. 15, 2008 (5 pages).
  • Datasheet for Panasonic TK Relays Ultra Low Profile 2 A Polarized Relay, Copyright Matsushita Electric Works, Ltd. (Known of at least as early as Aug. 17, 2010), 5 pages.
  • B.R. Coolman, DVM, MS et al., “Comparison of Skin Staples With Sutures for Anastomosis of the Small Intestine in Dogs,” Abstract; http://www.blackwell-synergy.com/doi/abs/10.1053/jvet.2000.7539?cookieSet=1&journalCode=vsu which redirects to http://www3.interscience.wiley.com/journal/119040681/abstract?CRETRY=1&SRETRY=0; [online] accessed: Sep. 22, 2008 (2 pages).
  • Disclosed Anonymously, “Motor-Driven Surgical Stapler Improvements,” Research Disclosure Database No. 526041, Published: Feb. 2008.
  • Van Meer et al., “A Disposable Plastic Compact Wrist for Smart Minimally Invasive Surgical Tools,” LAAS/CNRS (Aug. 2005).
  • Breedveld et al., “A New, Easily Miniaturized Sterrable Endoscope,” IEEE Engineering in Medicine and Biology Magazine (Nov./Dec. 2005).
  • ASTM procedure D2240-00, “Standard Test Method for Rubber Property-Durometer Hardness,” (Published Aug. 2000).
  • ASTM procedure D2240-05, “Standard Test Method for Rubber Property-Durometer Hardness,” (Published Apr. 2010).
  • Solorio et al., “Gelatin Microspheres Crosslinked with Genipin for Local Delivery of Growth Factors,” J. Tissue Eng. Regen. Med. (2010), 4(7): pp. 514-523.
  • Covidien iDrive™ Ultra in Service Reference Card, “iDrive™ Ultra Powered Stapling Device,” (4 pages).
  • Covidien iDrive™ Ultra Powered Stapling System ibrochure, “The Power of iDrive™ Ultra Powered Stapling System and Tri-Staple™ Technology,” (23 pages).
  • Covidien “iDrive™ Ultra Powered Stapling System, A Guide for Surgeons,” (6 pages).
  • Covidien “iDrive™ Ultra Powered Stapling System, Cleaning and Sterilization Guide,” (2 pages).
  • Covidien Brochure “iDrive™ Ultra Powered Stapling System,” (6 pages).
  • Covidien Brochure, “Endo GIA™ Reloads with Tri-Staple™ Technology,” (2010), 1 page.
  • Covidien Brochure, “Endo GIA™ Reloads with Tri-Staple™ Technology and Endo GIA™ Ultra Universal Staplers,” (2010), 2 pages.
  • Covidien Brochure, “Endo GIA™ Curved Tip Reload with Tri-Staple™ Technology,” (2012), 2 pages.
  • Covidien Brochure, “Endo GIA™ Reloads with Tri-Staple™ Technology,” (2010), 2 pages.
  • Pitt et al., “Attachment of Hyaluronan to Metallic Surfaces,” J. Biomed. Mater. Res. 68A: pp. 95-106, 2004.
  • “Indian Standard: Automotive Vehicles—Brakes and Braking Systems (IS 11852-1:2001)”, Mar. 1, 2001.
  • Patrick J. Sweeney: “RFID for Dummies”, Mar. 11, 2010, pp. 365-365, XP055150775, ISBN: 978-1-11-805447-5, Retrieved from the Internet: URL: books.google.de/books?isbn=1118054474 [retrieved on Nov. 4, 2014]—book not attached.
  • Allegro MicroSystems, LLC, Automotive Full Bridge MOSFET Driver, A3941-DS, Rev. 5, 21 pages, http://www.allegromicro.com/˜/media/Files/Datasheets/A3941-Datasheet.ashx?la=en.
  • Data Sheet of LM4F230H5QR, 2007.
  • Seils et al., Covidien Summary: Clinical Study “UCONN Biodynamics: Final Report on Results,” (2 pages).
  • Byrne et al., “Molecular Imprinting Within Hydrogels,” Advanced Drug Delivery Reviews, 54 (2002) pp. 149-161.
  • Fast, Versatile Blackfin Processors Handle Advanced RFID Reader Applications; Analog Dialogue: vol. 40—Sep. 2006; http://www.analog.com/library/analogDialogue/archives/40-09/rfid.pdf; Wayback Machine to Feb. 15, 2012.
  • Chen et al., “Elastomeric Biomaterials for Tissue Engineering,” Progress in Polymer Science 38 (2013), pp. 584-671.
  • Matsuda, “Thermodynamics of Formation of Porous Polymeric Membrane from Solutions,” Polymer Journal, vol. 23, No. 5, pp. 435-444 (1991).
  • Covidien Brochure, “Endo GIA™ Black Reload with Tri-Staple™ Technology,” (2012), 2 pages.
  • “Biomedical Coatings,” Fort Wayne Metals, Research Products Corporation, obtained online at www.fwmetals.com on Jun. 21, 2010 (1 page).
  • The Sodem Aseptic Battery Transfer Kit, Sodem Systems, 2000, 3 pages.
  • C.C. Thompson et al., “Peroral Endoscopic Reduction of Dilated Gastrojejunal Anastomosis After Roux-en-Y Gastric Bypass: A Possible New Option for Patients with Weight Regain,” Surg Endosc (2006) vol. 20., pp. 1744-1748.
  • Serial Communication Protocol; Michael Lemmon Feb. 1, 2009; http://www3.nd.edu/˜lemmon/courses/ee224/web-manual/web-manual/lab12/node2.html; Wayback Machine to Apr. 29, 2012.
  • Lyon et al. “The Relationship Between Current Load and Temperature for Quasi-Steady State and Transient Conditions,” SPIE—International Society for Optical Engineering. Proceedings, vol. 4020, (pp. 62-70), Mar. 30, 2000.
  • Anonymous: “Sense & Control Application Note Current Sensing Using Linear Hall Sensors,” Feb. 3, 2009, pp. 1-18. Retrieved from the Internet: URL: http://www.infineon.com/dgdl/Current_Sensing_Rev.1.1.pdf?fileId=db3a304332d040720132d939503e5f17 [retrieved on Oct. 18, 2016].
  • Mouser Electronics, “LM317M 3-Terminal Adjustable Regulator with Overcurrent/Overtemperature Self Protection”, Mar. 31, 2014 (Mar. 31, 2014), XP0555246104, Retrieved from the Internet: URL: http://www.mouser.com/ds/2/405/lm317m-440423.pdf, pp. 1-8.
  • Mouser Electronics, “LM317 3-Terminal Adjustable Regulator with Overcurrent/Overtemperature Self Protection”, Sep. 30, 2016 (Sep. 30, 2016), XP0555246104, Retrieved from the Internet: URL: http://www.mouser.com/ds/2/405/lm317m-440423.pdf, pp. 1-9.
  • Cuper et al., “The Use of Near-Infrared Light for Safe and Effective Visualization of Subsurface Blood Vessels to Facilitate Blood Withdrawal in Children,” Medical Engineering & Physics, vol. 35, No. 4, pp. 433-440 (2013).
  • Yan et al, Comparison of the effects of Mg—6Zn and Ti—3Al-2.5V alloys on TGF-β/TNF-α/VEGF/b-FGF in the healing of the intestinal track in vivo, Biomed. Mater. 9 (2014), 11 pages.
  • Pellicer et al. “On the biodegradability, mechanical behavior, and cytocompatibility of amorphous Mg72Zn23Ca5 and crystalline Mg70Zn23Ca5Pd2 alloys as temporary implant materials,” J Biomed Mater Res Part A ,2013:101A:502-517.
  • Anonymous, Analog Devices Wiki, Chapter 11: The Current Mirror, Aug. 20, 2017, 22 pages. https://wiki.analog.com/university/courses/electronics/text/chapter-11?rev=1503222341.
  • Yan et al., “Comparison of the effects of Mg—6Zn and titanium on intestinal tract in vivo,” J Mater Sci: Mater Med (2013), 11 pages.
  • Brar et al., “Investigation of the mechanical and degradation properties of Mg—Sr and Mg—Zn—Sr alloys for use as potential biodegradable implant materials,” J. Mech. Behavior of Biomed. Mater. 7 (2012) pp. 87-95.
  • Texas Instruments: “Current Recirculation and Decay Modes,” Application Report SLVA321—Mar. 2009; Retrieved from the Internet: URL:http://www.ti.com/lit/an/slva321/slva321 [retrieved on Apr. 25, 2017], 7 pages.
  • Qiu Li Loh et al.: “Three-Dimensional Scaffolds for Tissue Engineering Applications: Role of Porosity and Pore Size”, Tissue Engineering Part B—Reviews, vol. 19, No. 6, Dec. 1, 2013, pp. 485-502.
Patent History
Patent number: 10779822
Type: Grant
Filed: Nov 3, 2015
Date of Patent: Sep 22, 2020
Patent Publication Number: 20160058443
Assignee: Ethicon LLC (Guaynabo, PR)
Inventors: David C. Yates (West Chester, OH), Frederick E. Shelton, IV (Hillsboro, OH), James R. Giordano (Milford, OH)
Primary Examiner: Nathaniel C Chukwurah
Application Number: 14/930,826
Classifications
Current U.S. Class: Means To Identify Cell Or Battery Type (320/106)
International Classification: A61B 17/072 (20060101); A61B 34/00 (20160101); A61B 50/36 (20160101); A61B 34/37 (20160101); A61B 90/98 (20160101); A61B 34/30 (20160101); A61B 18/14 (20060101); A61B 17/00 (20060101); A61B 17/068 (20060101); A61B 17/29 (20060101); A61B 17/32 (20060101); A61B 90/50 (20160101); A61B 90/00 (20160101); A61B 18/00 (20060101);